5Applied Instructions and Basic Usage

DVP-10PM Application Manual (Programming)
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DVP-10PM
Application Manual
(Programming)
Americas
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DVP-0179720-01
*We reserve the right to change the information in this manual without prior notice.
2014-02-12
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DVP-10PM Application Manual
Contents
Chapter 1 Program Framework of a DVP-PM Series Motion Controller
1.1
Structure of O100 ................................................................................................ 1-1
1.1.1
Manual Function of O100 ............................................................................. 1-2
1.2
Structure of Ox Motion Subroutines..................................................................... 1-3
1.3
Structure of P Subroutines................................................................................... 1-4
1.4
Using O100, Ox Motion Subroutines, and P Subroutines.................................... 1-6
1.4.1
Structure of a Program ................................................................................. 1-6
Chapter 2 Hardware Specifications and Wiring
2.1
Hardware Specifications...................................................................................... 2-1
2.1.1
Specifications for Power ............................................................................... 2-1
2.1.2
Electrical Specifications for Input Terminals/Output Terminals...................... 2-1
2.1.3
Dimensions................................................................................................... 2-4
2.2
Wiring .................................................................................................................. 2-5
2.2.1
Installation of a DVP-10PM Series Motion Controller in a Control Box......... 2-6
2.2.2
Wiring Power Input ....................................................................................... 2-6
2.2.3
Safety Wiring ................................................................................................ 2-7
2.2.4
Wiring Input/Output Terminals ...................................................................... 2-7
2.2.5
Wiring a DVP-10PM Series Motion Controller and an Inferior Servo Drive 2-14
2.3
Communication Ports ........................................................................................ 2-24
2.3.1
COM1 (RS-232 Port).................................................................................. 2-24
2.3.2
COM2 (RS-485 Port).................................................................................. 2-25
2.3.3
COM3 (RS-232/RS-485 Port)..................................................................... 2-25
Chapter 3 Devices
3.1
Device Lists ......................................................................................................... 3-1
3.2
Values, Constants, and Floating-point Numbers ................................................. 3-4
3.3
External Input Devices and External Output Devices .......................................... 3-6
3.4
Auxiliary Relays ................................................................................................... 3-8
3.5
Stepping Relays .................................................................................................. 3-8
3.6
Timers ................................................................................................................. 3-8
3.7
Counters.............................................................................................................. 3-9
3.8
Registers ........................................................................................................... 3-14
3.8.1
Data Registers............................................................................................ 3-15
3.8.2
Index Registers .......................................................................................... 3-15
3.9
Pointers ............................................................................................................. 3-16
i
3.10 Specail Auxiliary Relays and Special Data Registers ........................................ 3-16
3.11 Functions of Special Auxiliary Relays and Special Data Registers ................... 3-30
3.12 Special Data Registers for Motion Axes ............................................................ 3-44
3.12.1 Descriptions of the Special Data Registers Related to Motion.................... 3-47
3.12.2 Introduction of Modes of Motion ................................................................. 3-68
3.12.3 Special Data Registers for Motion Axes ..................................................... 3-69
Chapter 4 Basic Instructions
4.1
Table of Basic Instructions .................................................................................. 4-1
4.2
Descriptions of the Basic Instructions.................................................................. 4-3
Chapter 5 Applied Instructions and Basic Usage
5.1
Table of Applied Instructions ...............................................................................5-1
5.2
Structure of an Applied Instruction....................................................................... 5-4
5.3
Processing Values ............................................................................................... 5-7
5.4
Using Index Registers to Modify Operands ......................................................... 5-9
5.5
Instruction Index ................................................................................................5-10
5.6
Descriptions of the Applied Instructions............................................................. 5-13
● (API 00~09) Loop control............................................................................. 5-13
● (API 10~19) Transfer and comparison ......................................................... 5-22
● (API 20~29) Arithmetic................................................................................. 5-35
● (API 30~39) Rotation and move .................................................................. 5-47
●
●
●
●
●
(API 40~49) Data processing ...................................................................... 5-58
(API 50) High-speed processing.................................................................. 5-72
(API 61~69) Convenience ........................................................................... 5-73
(API 78~87) I/O ........................................................................................... 5-80
(API 100~101) Communication ................................................................... 5-85
(API 110~175) Floating-point value ............................................................. 5-94
●
● (API 215~223) Logical operation ............................................................... 5-125
● (API 224~246) Comparison instructions .................................................... 5-128
● (API 147, 154, 202, 203, 256~260) Other instructions .............................. 5-131
5.7
Motion Control Function Block Table ............................................................... 5-144
5.8
Introduction of the Pins in a Motion Control Function Block ............................ 5-145
5.8.1
Definitions of Input Pins/Output Pins ........................................................ 5-145
5.8.2
Timing Diagram for Input/Output Pins ...................................................... 5-147
5.8.3
Introducing the Use of PMSoft.................................................................. 5-148
5.9
Delta-defined Parameter Table ........................................................................ 5-150
5.10 Uniaxial Motion Control Function Blocks ......................................................... 5-152
5.10.1 Absolute Single-speed Motion.................................................................. 5-152
5.10.2 Relative Single-speed Motion................................................................... 5-156
ii
5.10.3 Absolute Two-speed Motion ..................................................................... 5-160
5.10.4 Relative Two-speed Motion ...................................................................... 5-163
5.10.5 Inserting Single-speed Motion .................................................................. 5-166
5.10.6 Inserting Two-speed Motion ..................................................................... 5-170
5.10.7 JOG Motion .............................................................................................. 5-173
5.10.8 Manual Pulse Generator Mode................................................................. 5-176
5.10.9 Electronic Gear Motion............................................................................. 5-179
5.10.10 Returning Home ....................................................................................... 5-181
5.10.11 Stopping Uniaxial Motion.......................................................................... 5-183
5.10.12 Parameter Setting I .................................................................................. 5-186
5.10.13 Parameter Setting II ................................................................................. 5-187
5.10.14 Reading the Present Position/Speed of an Axis ....................................... 5-189
5.10.15 State of an Axis......................................................................................... 5-191
5.10.16 Setting the Present Position of an Axis..................................................... 5-193
5.10.17 Setting the Polarities of Input Terminals ................................................... 5-194
5.11 Multiaxial Motion Control Function Blocks ....................................................... 5-196
5.11.1 Multiaxial Absolute Linear Interpolation .................................................... 5-196
5.11.2 Multiaxial Relative Linear Interpolation..................................................... 5-197
5.11.3 Stopping Multiaxial Linear Interpolation.................................................... 5-200
5.12 Other Motion Control Function Blocks ............................................................. 5-203
5.12.1 High-speed Counter ................................................................................. 5-203
5.12.2 High-speed Timer ..................................................................................... 5-206
5.12.3 Setting High-speed Comparison............................................................... 5-209
5.12.4 Resetting High-speed Comparison........................................................... 5-211
5.12.5 Setting High-speed Capture ..................................................................... 5-215
5.12.6 High-speed Masking................................................................................. 5-218
5.12.7 Setting an Interrupt................................................................................... 5-220
Chapter 6 Multiaxial Interpolation
6.1
Introduction of Multiaxial Interpolation ................................................................. 6-1
6.2
Description of TO................................................................................................. 6-1
Chapter 7 CANopen Communication Card
7.1
Introduction of DVP-FPMC: CANopen Communication Card .............................. 7-1
7.2
Specifications ...................................................................................................... 7-1
7.3
Product Profile and Installation ............................................................................ 7-2
7.4
Parameters for Control Registers ........................................................................ 7-2
7.5
Descriptions of Control Registers ........................................................................ 7-4
7.6
Setting a DVP-FPMC Mode............................................................................... 7-19
7.7
Ethernet Mode of DVP-FPMC ........................................................................... 7-21
iii
7.7.1
Communication between DVP-FPMC and an HMI..................................... 7-22
7.7.2
Communication between DVP-FPMC and PMSoft..................................... 7-24
7.8
LED Indicators and Troubleshooting ................................................................. 7-27
Chapter 8 High-speed Capture and High-speed Comparison
8.1
High-speed Comparison and High-speed Capture .............................................. 8-1
8.2
High-speed Comparison...................................................................................... 8-3
8.3
High-speed Capture ............................................................................................ 8-6
Chapter 9 Appendix
9.1
Appendix A: Error Code Table............................................................................. 9-1
iv
v
1 Program Framework of a DVP-PM Series Motion Controller
Delta DVP-PM series motion controllers can put axes in particular positions at high-speeds, create linear
interpolations, and circular interpolations. They can execute basic instructions, applied instructions, motion
instructions, and G-codes. Different DVP-PM series motion controllers support different program
frameworks and functions. The functions that DVP-PM series motion controllers support are shown in the
table below.
Program Instruction
Uniaxial motion
Function
Main program O100
Ox motion subroutines
P subroutines
General instructions/Applied instructions
Motion instructions
G-codes
M-codes
JOG motion
Returning home
Variable motion
Single-speed motion
Inserting single-speed motion
Two-speed motion
Inserting two-speed motion
Triggering single-speed motion by means
of an external signal
Manual pulse generator mode
Cyclic/Noncyclic electronic cam motion
DVP-20PM
○
○
○
○
○
○
○
○
○
○
○
○
○
○
○
DVP-10PM
○
×
○
○
×
×
×
○
○
○
○
○
○
○
×
○
○
○
×
In this chapter, the basic program frameworks of DVP-PM series motion controllers are described. Owing
to the fact that the functionality of a DVP-PM series motion controller is composed of sequence control and
positioning control, a program comprises O100, Ox motion subroutines, and P subroutines. O100, Ox
motion subroutines, and P subroutines are described in this chapter. Basic instructions, applied
instructions, motion instructions, and G-codes will be introduced in other chapter 4~chapter 6. The
specifications for DVP-PM series motion controllers are shown in the table below.
Specifications
High-speed output
PWM
High-speed counter
Program capacity
Execution speed
DVP-10PM
4 axes (1000 kHz)
DVP-20PM
3 axes (500 kHz)
－
Precision: 0.3%@200 kHz
6 input terminals (2 differential
input terminals, and 4 input
terminals whose collectors are
open collectors)
64K steps
LD: 0.14 us
MOV: 2 us
DMUL: 7.6 us
DEMUL: 6.1 us
2 input terminals
64K steps
－
1.1 Structure of O100
O100 is a sequence control program. It is the main program in a DVP-PM series motion controller. It only
supports basic instructions and applied instructions. Users can use these two types of instructions to
process I/O data, call P subroutines, and enable Ox motion subroutines (Ox0~Ox99). O100 functions as a
main program. Motion subroutines are enabled through O100. There is hierarchical relation between O100
and motion subroutines. The characteristics of O100 are described below.
1. There are two methods of enabling O100.

If the STOP/RUN switch of a DVP-PM series motion controller module is turned form the “STOP”
position to the “RUN” position when the DVP-PM series motion controller is powered, M1072 will be
ON, and O100 will run.
DVP-10PM Application Manual
1-1
1 Program Framework of a DVP-PM Series Motion Controller

If a DVP-PM series motion controller is powered, users can use communication to set M1072 to ON,
and to run O100.
STOP/RUN switch
Communication
M1072
O10 0
runs.
2. O100 is scanned cyclically. The scan of the main program O100 starts from the starting flag O100. After
the ending instruction M102 is scanned, the scan of the main program O100 will go back to the starting
flag O100.
Main Program
O100
.
.
.
M102
The main program starts.
The sequence control
program is scanned cyclically.
The main program ends.
3. There are three methods of disabling O100.

If the STOP/RUN switch of a DVP-PM series motion controller is turned form the “RUN” position to
the “STOP” position when the DVP-PM series motion controller is powered, M1072 will be OFF,
and O100 will stop. If O100 stops, Ox motion subroutines and P subroutines will not be executed.

If a DVP-PM series motion controller is powered, users can use communication to set M1072 to
OFF, and to stop O100. If O100 stops, Ox motion subroutines and P subroutines will not be
executed.

If an error occurs when O100 is compiled or when O100 runs, O100 will stop automatically. Please
refer to appendix A in chapter 9 for more information about error codes.
4. O100 supports basic instructions and applied instructions. Users can write a control program according
to their needs. They can set the parameters of motion instructions, and motion subroutine numbers
(Ox0~Ox99) in O100.

O100 does not support motion instructions and G-codes. Motion instructions and G-codes must be
used in the motion subroutines Ox0~Ox99. Please refer to section 1.2 for more information.

O100 can call P subroutines. Please refer to section 1.3 for more information.
5. The description of O100 is shown below.
O100
Enabling
O100
Disabling
O100
Executing
O100
Operation
characteristic
Instructions
supported
Number
Characteristic
and function
Description
Starting flag O100 (If O100 is a ladder diagram in PMSoft, the starting flag in O100 will be
set automatically, and users do not have to write the starting flag.)
Ending instruction M102 (If O100 is a ladder diagram in PMSoft, the ending instruction
M102 will be set automatically, and users do not have to write the ending instruction M102.)
1. The STOP/RUN switch of a DVP-PM series motion controller is turned form the “STOP”
position to the “RUN” position.
2. Users use communication to set M1072 to ON.
O100 is scanned cyclically.
Basic instructions and applied instructions are supported.
There is only one O100 in a program.
1. It is a sequence control program.
2. It can enable the motion subroutines Ox0~Ox99, and call P subroutines.
3. If O100 is used with Ox motion subroutines and P subroutines, O100, the Ox motion
subroutines, and the P subroutines can be arranged in any order.
1.1.1 Manual Function of O100
Users can set manual motion modes by means of special registers in O100. (Please refer to section 3.12
for more information.)
1-2
DVP-10PM Application Manual
1 Program Framework of a DVP-PM Series Motion Controller
1.2 Structure of Ox Motion Subroutines
The motion subroutines Ox0~Ox99 are motion control programs. They are subroutines which control the
motion of the axes of a DVP-PM series motion controller. Ox0~Ox99 support basic instructions, applied
instructions, motion instructions, and G-codes. They can call P subroutines. Users can control the paths of
the axes of a DVP-PM series motion controller through Ox motion subroutines. The characteristics of Ox
motion subroutines are described below.
1. There are two methods of enabling an Ox motion subroutine.

When O100 runs, users can set motion subroutine numbers in O100. (The motion subroutine
numbers must be in the range of Ox0 to Ox99. The users can set a motion subroutine number in
O100 by setting D1868. The value in D1868 must be in the range of H8000 to H8063.) If the users
want to enable an Ox motion subroutine, they have to set M1074 to ON or set bit 12 in D1846 to
ON.

Before an Ox motion subroutine is enabled, users have to make sure that no Ox motion subroutine
runs.
O100 runs.
Oxn
(Motion subroutine number)
M1074 is set to O N,
or bit 12 in D1846
is set to ON.
Ox n
runs.
2. Whenever an Ox motion subroutine is enabled, it is executed once. After O100 enables an Ox motion
subroutine, the execution of the Ox motion subroutine will start from the starting flag in the Ox motion
subroutine. After the ending instruction M2 in the Ox motion subroutine is executed, the execution of
the Ox motion subroutine will stop.
C ycl ic scan
O1 00
Main program
.
.
.
X0
MOV H 80 0A D 18 68 Se ttin g th e O x n u mbe r O x10 , an d se ttin g b it 1 5 to ON .
MOV H 10 00 D 18 46 o r
.
.
.
OU T M1 07 4
If X0 is ON , the moti o n sub rou ti ne Ox10 wi ll b e e n ab le d.
X0 i s O N.
It is e xecu ted on ce.
Ox1 0
Motion subroutine
.
.
.
MOVP K1 00 D 18 36
MOVP K1 00 D 18 37
.
.
.
If X0 is ON, the motion subroutine Ox10 will be enabled. After the ending instruction M2 in Ox10 is
executed, the execution of Ox10 will stop. (Ox10 is executed once. If Ox10 needs to be executed again,
X0 has to be set to ON.)
3. There are four methods of disabling an Ox motion subroutine.

If the STOP/RUN switch of a DVP-PM series motion controller is turned form the “RUN” position to
the “STOP” position when the DVP-PM series motion controller is powered, M1072 will be OFF,
O100 will stop, and Ox motion subroutines will not be executed.

Users can stop the execution of Ox motion subroutines by means of the external terminal Stop0.

If a DVP-PM series motion controller is powered, users can use communication to set the value in
D1846 to 0, or to set M1074 to OFF, and to stop the execution of Ox motion subroutines.

If an error occurs when an Ox motion subroutine is compiled or when an Ox motion subroutine is
DVP-10PM Application Manual
1-3
1 Program Framework of a DVP-PM Series Motion Controller
executed, the execution of the Ox motion subroutine will stop automatically. Please refer to
appendix A in chapter 9 for more information about error codes.
4. An Ox motion subroutine supports basic instructions, applied instructions, motion instructions, and
G-codes. Users can write a motion program according to their needs. They can control the motion of
the axes of a DVP-PM series motion controller by setting the parameters of the axes.

Basic instructions, applied instructions, motion instructions and G-codes must be used in the
motion subroutines Ox0~Ox99.

Ox motion subroutines can call P subroutines. Please refer to section 1.3 for more information.
5. The description of Ox motion subroutines is shown below.
Ox motion
subroutine
Enabling an
Ox motion
subroutine
Disabling an
Ox motion
subroutine
Executing an
Ox motion
subroutine
Operation
characteristic
Instructions
supported
Number
Characteristic
and function
Description
There are 100 Ox motion subroutines (Ox0~Ox99).
(If an Ox motion subroutine is a ladder diagram in PMSoft, the starting flag in the Ox motion
subroutine will be set automatically, and users do not have to write the starting flag.)
Ending instruction M2 (If an Ox motion subroutine is a ladder diagram in PMSoft, the ending
instruction M2 will be set automatically, and users do not have to write the ending instruction
M2.)
1. If users set bit 12 in D1846 or M1074 to ON when O100 runs, an Ox motion subroutine
will be enabled.
2. If users use communication to set bit 12 in D1846 or M1074 to ON when O100 runs, an
Ox motion subroutine will be enabled.
3. Users can stop the execution of Ox motion subroutines by means of the external terminal
Stop0.
Note: Before an Ox motion subroutine is enabled, users have to make sure that no Ox
motion subroutine runs.
Whenever an Ox motion subroutine is enabled, it is executed once. If an Ox motion
subroutine needs to be executed again, it has to be enabled again.
Basic instructions, applied instructions, motion instructions, and G-codes are supported.
Note: Users have to avoid using pulse instructions.
There are 100 Ox motion subroutines in a program. If users want to enable a motion
subroutine number, they have to set D1868, and set bit 12 in D1846 or M1074 to ON.
1. Ox0~Ox99 are motion subroutines. (They can only be enabled by O100.)
2. An Ox motion subroutine can be enabled/disabled by an external terminal, a program, or
communication.
3. Ox motion subroutines can call P subroutines.
4. If Ox motion subroutines are used with O100 and P subroutines, the Ox motion
subroutines, O100, and the P subroutines can be arranged in any order.
1.3 Structure of P Subroutines
P subroutines are general subroutines. They can be called by O100 and Ox motion subroutines. If P
subroutines are called by O100, the P subroutines will support basic instructions and applied instructions. If
P subroutines are called by Ox0~Ox99, the P subroutines will support basic instructions, applied
instructions, motion instructions, and G-codes. After O100 or an Ox motion subroutine calls a P subroutine,
the P subroutine will be executed. After SRET in the P subroutine is executed, the lines under the
instruction which calls the P subroutine will be executed.
1. There are two methods of enabling a P subroutine.

O100 can call P subroutines.

Ox motion subroutines can call P subroutines.
2. Whenever a P subroutine is called, it is executed once. After O100 or an Ox motion subroutine calls a P
subroutine, the P subroutine will be executed. After the ending instruction SRET in the P subroutine is
executed, the execution of the P subroutine will stop, and the lines under the instruction which calls the
P subroutine will be executed.
1-4
DVP-10PM Application Manual
1 Program Framework of a DVP-PM Series Motion Controller
M1 00 0
C ycl ic scan
O100
Main p rogram
O100 and Ox 10
diver ge.
C ALL
Ca llin g P0
H800A D 1868 Setting the motio n su bro utine n umb er Ox10
OUT
M1074
CALL
P2
MOV P
K100
If X0 i s ON, Ox10 w ill be e nabl ed.
The pa th a is vali d.
.
.
.
.
.
.
Ox1 0 i s e xecu te d on ce.
M1000
Ca llin g P2
D 1836
.
.
.
ABST
D RV
X- 20000
Y20000
.
.
P2 i s e xecu te d o nce .
P0
s ubro utine
P2 i s e xecu te d o nce .
P2
s ubro utine
Ox1 0 i s e xecu te d on ce.
OX 10
Motion s ubrou tine
MOV
b
a
Sub rou tine
s ec tion
P0
X0
.
.
MOV P
K100
D 1837
.
.
The subroutine P0 supports basic instructions and applied instructions. The subroutine P2 supports
basic instructions, applied instructions, motion instructions, and G-codes.
3. There are three methods of disabling a P subroutine.

If the STOP/RUN switch of a DVP-PM series motion controller is turned form the “RUN” position to
the “STOP” position when the DVP-PM series motion controller is powered, M1072 will be OFF,
O100 will stop, and Ox motion subroutines and P subroutines will not be executed.
If a DVP-PM series motion controller is powered, users can use communication to set the value in

D1846 to 0, or to set M1074 to OFF, to stop the execution of Ox motion subroutines, and to stop the
execution of P subroutines.

If an error occurs when a P subroutine is executed, the execution of the P subroutine will stop
automatically. Please refer to appendix A in chapter 9 for more information about error codes.
4. If P subroutines are called by O100, the P subroutines will support basic instructions and applied
instructions. If P subroutines are called by Ox0~Ox99, the P subroutines will support basic instructions,
applied instructions, motion instructions, and G-codes.
5. The description of P subroutines is shown below.
P subroutine
Enabling a P
subroutine
Disabling a P
subroutine
Description
There are 256 P subroutines (P0~P255).
(If a P subroutine is a ladder diagram in PMSoft, the starting flag in the P subroutine will be
set automatically, and users do not have to write the starting flag.)
Ending instruction SRET (If a P subroutine is a ladder diagram in PMSoft, the ending
instruction SRET will be set automatically, and users do not have to write the ending
instruction SRET.)
DVP-10PM Application Manual
1-5
1 Program Framework of a DVP-PM Series Motion Controller
P subroutine
Description
Executing a P
subroutine
1. O100 can call P subroutines.
2. Ox motion subroutines can call P subroutines.
Operation
characteristic
Whenever a P subroutine is enabled, it is executed once. If a Pn subroutine needs to be
executed again, it has to be enabled again.
1. If P subroutines are called by O100, the P subroutines will support basic instructions and
applied instructions.
2. If P subroutines are called by Ox motion subroutines, the P subroutines will support
basic instructions, applied instructions, motion instructions, and G-codes.
Note: If P subroutines are called by Ox motion subroutines, users have to avoid using pulse
instructions.
There are 256 P subroutines in a program.
Instruction
supported
Number
Characteristic
and function
1. P subroutines are general subroutines.
2. P subroutines can be called by O100 and Ox motion subroutines.
3. If P subroutines are used with O100 and Ox motion subroutines, the P subroutines,
O100, and the Ox motion subroutines can be arranged in any order.
1.4 Using O100, Ox Motion Subroutines, and P Subroutines
O100, Ox motion subroutines, and P subroutines are introduced in section 1.1~section 1.3. In this section,
a program composed of O100, Ox motion subroutines, and P subroutines is described.
1.4.1 Structure of a Program
Suppose a program is composed of O100, Ox0, Ox3, P1, and P2. The five program blocks are shown
below.
Mai n p ro g ra m
O1 00
．
．
．
C al li ng Ox0
．
．
．
．
．
．
C al li．ng P2
．
．
．
M1 02
1-6
Moti on subroutine
Ox 0
．
．
C al li ng P1
．
．
M2 ．
Sub rou ti ne
P2
．
．
C al li ng Ox3
．
．
SR ET．
Sub rou ti ne
P1
．
SR ET．
Moti on subroutine
Ox 3
M2
．
．
DVP-10PM Application Manual
1 Program Framework of a DVP-PM Series Motion Controller
In order to describe the program, the program is divided into 5 sections (section (1)~section (5)).
Ox0
Motion subroutine
.
.
M 1000
CALL
P1
Call ing P1
(1)
.
.
.
.
.
M OV H8000 D1868 Sett ing the motio n sub ro utin e number Ox0
O100
Main pro gram
.
.
.
SET M 1074 Ena bli ng Ox 0
(2)
M 1000
CALL
P2
Call ing P2
.
.
P1
Su brou tine
.
.
.
Ox3
Moti on su brout ine
.
.
.
(3)
BRET
(4)
M 1000
.
.
P2
Su brou tine
.
.
.
.
.
DMOV
K0
D1848
M OV H8003 D1868 Sett ing the motio n s ub ro utin e number Ox3
(5)
Ena
bli
ng
Ox
3
SET M 1074
The program is described below.
1. Section (1)~section (5) are created in numerical order, but they can be arranged in any order.
2. There is only one O100. O100 can not be called by another program, but it can freely call Ox motion
subroutines and P subroutines.
3. Ox motion subroutines can be called by O100 and P subroutines, and it can call P subroutines.
4. P subroutines can be called by O100 and Ox motion subroutines, and it can call Ox motion
subroutines.
Note:
1. One Ox motion subroutine is executed at a time. If Ox0 is executed, Ox3 can not be executed. If Ox3 is
executed, Ox0 can not be executed.
2. After O100 or a P subroutine enables an Ox motion subroutine, the next line will be executed, and the
execution of the Ox motion subroutine will be ignored.
DVP-10PM Application Manual
1-7
1 Program Framework of a DVP-PM Series Motion Controller
3. Whenever an Ox motion subroutine is enabled, it is executed once. If an Ox motion subroutine needs
to be executed again, it has to be enabled again.
The instructions supported by O100, Ox0, Ox3, P1 and P3 are described below. (O: Supported; X: Not
supported)
Section
Basic
instruction
Applied
instruction
Motion
instruction
G-code
O100
Ox0 and Ox3
P1
P2
O
O
O
O
O
O
O
O
X
O
O
X
X
O
Description
-
-
O
P1 is called by Ox0,
and therefore it
supports motion
instructions and
G-codes.
X
P2 is called by O100,
and therefore it does
not support motion
instructions and
G-codes.
Additional remark:
Order
Main program
In any order
Subroutine
In any order
P subroutines can be called
by O100 or Ox motion
subroutines.
Execution
It runs normally.
Operation
It is scanned cyclically.
Whenever a subroutine is
called, it is executed once.
1 main program
256 subroutines
They can be used according
to users’ needs.
Number
1-8
Motion subroutine
In any order
Ox motion subroutines can
be called by O100 or P
subroutines.
Whenever a motion
subroutine is called, it is
executed once.
100 motion subroutines
They can be used according
to users’ needs.
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
2.1 Hardware Specifications
Electrical specifications and wiring are described in this chapter. Please refer to chapter 5~chapter 6 for
more information about the writing of a program and the use of instructions. For more information about the
peripherals purchased, please refer to the manuals attached to them.
2.1.1 Specifications for Power
Item
Supply voltage
Fuse
Power
Consumption
24 V DC power
Power protection
Surge voltage
withstand level
Insulation
impedance
Noise immunity
Ground
Operation/Storage
Vibration/Shock
resistance
Weight
10PM
100~240 V AC (-15%~10%), 50/60 Hz5%
2 A/250 V AC
60 V A
500 mA
24 V DC output is equipped with a short circuit protection and an overcurrent protection.
1500 V AC (Primary-secondary), 1500 V AC (Primary-PE), 500 V AC (Secondary-PE)
Above 5 MΩ
(The voltage between all input terminals/output terminals and the ground is 500 V DC.)
ESD: 8 kV air discharge
EFT: Power line: 2 kV; digital I/O: 1 kV; analog & communication I/O: 250 V
The diameter of the ground should not be less than the diameters of the cables connected
to the terminals L and N. (If several DVP-10PM series motion controllers are used, please
use single-point ground.)
Operation:0°C~55°C (Temperature), 5~95% (Humidity), pollution degree 2
Storage: -25°C ~70°C (Temperature), 5~95% (Humidity)
International standards IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC 68-2-27
(TEST Ea)
Approximately 478/688 g
2.1.2 Electrical Specifications for Input Terminals/Output Terminals
Electrical specifications for input terminals:
 DVP10PM00M: Four-axis mode
Terminal
Description
Maximum input
Current
Voltage
1.
2.
X0~X7
X10+, X10-, X11+,
and X11X12+, X12-, X13+,
and X13-
They are single/A/B-phase input terminals.
DOG signals for the X-axis, the Y-axis, the
Z-axis, and the A-axis: X0, X2, X4, and X6
3. PG signals for the X-axis, the Y-axis, the
Z-axis, and the A-axis: X1, X3, X5, and X7
Differential terminals for a manual pulse
generator (differential terminals for a counter)
Response
Differential terminals for a counter
200 kHz
15 mA
24 V
200 kHz
15 mA
5~24 V
200 kHz
15 mA
5~24 V
 DVP10PM00M: Six-axis mode
Terminal
Description
Maximum input
Current
Voltage
1.
2.
X0~X7
X10+, X10-,
X11+, and X11-
They are single/A/B-phase input terminals.
DOG signals for the X-axis, the Y-axis, the
Z-axis, and the A-axis: X0, X2, X4, and X6
3. PG signals for the X-axis, the Y-axis, the
Z-axis, and the A-axis: X1, X3, X5, and X7
Differential terminals for a manual pulse
generator (differential terminals for a counter)
Response
DVP-10PM Application Manual
200 kHz
15 mA
24 V
200 kHz
15 mA
5~24 V
2-1
2 Hardware Specifications and Wiring
Terminal
X12+, X12-,
X13+, and X13-
Description
Response
1. Differential terminals for a counter
2. DOG signals for the B-axis and the C-axis:
(X12+, X12-) and (X13+, X13-)
3. PG signals should ne used with I/O
extension modules.
200 kHz
Maximum input
Current
Voltage
15 mA
5~24 V
Electrical specifications for output terminals:
 DVP10PM00M: Four-axis mode
Terminal
Y0~Y3
Y10+, Y10-, Y12+,
Y12-, Y14+, Y14-,
Y16+, and Y16Y11+, Y11-, Y13+,
Y13-, Y15+, Y15-,
Y17+, Y17-
Description
They are high-speed output terminals whose
collectors are open collectors. (PWM)
PG signals
U/D: Counting up
P/D: Pulse
A/B: A phase
U/D: Counting down
P/D: Direction
A/B: B phase
Response
Maximum
current output
200 kHz
40 mA
1000 kHz
40 mA
1000 kHz
40 mA
Response
Maximum
current output
200 kHz
40 mA
200 kHz
40 mA
1000 kHz
40 mA
1000 kHz
40 mA
 DVP10PM00M: Six-axis mode
Terminal
Y0, C0, Y2, and
C2
Y1, C1, Y3, and
C3
Y10+, Y10-, Y12+,
Y12-, Y14+, Y14-,
Y16+, and Y16Y11+, Y11-, Y13+,
Y13-, Y15+, Y15-,
Y17+, and Y17-
2-2
Description
They are high-speed output terminals whose
collectors are open collectors.
U/D: Counting up
P/D: Pulse
A/B: A phase
They are high-speed output terminals whose
collectors are open collectors.
U/D: Counting down
P/D: Direction
A/B: B phase
U/D: Counting up
P/D: Pulse
A/B: A phase
U/D: Counting down
P/D: Direction
A/B: B phase
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
Digital input terminals:
 DVP-10PM series motion controller
Item
Specifications
Wiring type
Input indicator
Input voltage
Maximum input
current
OffOn
Action
level
OnOff
Response
time/Noise
reduction#1
Differential input
24 V DC common
terminal
terminal
High speed of 200 kHz
A current flows into the
terminal S/S (sinking), or a
Independent wiring
current flows from the
terminal S/S.
LED indicator (If the LED indicator corresponding to an
input terminal is ON, the input terminal is ON. If the LED
indicator corresponding to an input terminal is OFF, the
input terminal is OFF.)
5~24 V DC
24 V DC
15 mA
20 us
30 us
Remark
#1: Users can filter pulses by
setting a digital input terminal
to ON after the pulses in 10
ms~60 ms are received.
Besides, they can filter
high-frequency pulses by
setting the terminals for a
manual pulse generator to ON
when the frequency of pulses
received is in the range of 10
kHz to 2600 kHz.
10 ms/0.5 us
Digital output terminals:
 DVP-10PM series motion controller
Item
Specifications
Maximum frequency of
output signals
Differential output terminal
Transistor output terminal
1 MHz
200 kHz
LED indicator (If the LED indicator corresponding to an output terminal is ON, the
output terminal is ON. If the LED indicator corresponding to an output terminal is
OFF, the output terminal is OFF.)
Y10~Y17
Y0~Y3
Output terminal
5 V DC
5~30 V DC
Working voltage
40 mA
40 mA
Maximum output current
Power isolation
Optocoupler
Isolation
< 25 mA
0.5A/output terminal (4 A/COM)
Resistance
Current
-12 W (24 V DC)
Inductance
specifications
-2 W (24 V DC)
Bulb
OffOn
Response
0.2 us
time
OnOff
N/A
Overcurrent protection
Output indicator
DVP-10PM Application Manual
2-3
2 Hardware Specifications and Wiring
80
90
2.1.3 Dimensions
164
82.2
174
(Unit: mm)
Profile
 DVP-10PM series motion controller
3
2
4
1
5
9
7
11
Communication port cover
6
○
Input/Output terminal
numbers
Function card/memory card
cover
7
○
6
10
1
○
2
○
3
○
4
○
5
○
8
15
16
8
○
9
○
10
○
11
○
12
○
13
○
14
○
15
○
17
16
○
18
17
○
18
○
19
○
12
13
14
19
2-4
Input/Output terminal cover
Input LED indicators
Input/Output terminals
Connector cover
Output LED indicators
DIN rail mounting clip
COM2 (RS-485 port)
STOP/RUN switch
COM1 (RS-232 port)
Battery compartment
Battery
Function card slot
POWER LED indicator, RUN
LED indicator, ERROR LED
indicator, and BATTERY LED
indicator
Connector
Set screw
Mounting hole
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
Open the COM1 cover.
Please change the battery in a minute.
Take out the RS-485 terminals.
Removable terminal block
COM2 (RS-485)
STOP/RUN switch
COM1 (RS-232)
Battery
Part
COM2 (RS-485 port)
Description
Master/Slave mode
Running/Stopping the DVP-10PM series motion
controller
Slave mode (It can be used with COM2 at the
same time.)
STOP/RUN switch
COM1 (RS-232 port)
Arrangement of terminals: Please refer to section 2.1.2 for more information.
 DVP-10PM series motion controller
24G
X0
+24V
X4
X2
S/S
X1
X6
X10+
X5
X3
X11+
X10-
X7
X12+
X11-
X13+
X12-
X13-
DVP-10PM
( AC Power IN, DC Signal IN )
Y0
Y1
C0
Y2
C1
Y3
C2
Y10+
C3
Y11+
Y10-
Y11-
Y12+
Y13+
Y12-
Y14+
Y13-
Y15+
Y14-
Y16+
Y15-
Y17+
Y16-
Y17-
2.2 Wiring
A DVP-10PM series motion controller is an OPEN-TYPE device. It should be installed in a control cabinet
free of airborne dust, humidity, electric shock and vibration. To prevent non-maintenance staff from
operating a DVP-10PM series motion controller, or to prevent an accident from damaging a DVP-10PM
series motion controller, the control cabinet in which a DVP-10PM series motion controller is installed
should be equipped with a safeguard. For example, the control cabinet in which a DVP-10PM series
motion controller is installed can be unlocked with a special tool or key.
DO NOT connect AC power to any of I/O terminals, otherwise serious damage may occur. Please check all
wiring again before a DVP-10PM series motion controller is powered up. Make sure that the ground
terminal
on a DVP-10PM series motion controller is correctly grounded in order to prevent
DVP-10PM Application Manual
2-5
2 Hardware Specifications and Wiring
electromagnetic interference.
2.2.1 Installation of a DVP-10PM Series Motion Controller in a Control Box
Installing a DIN rail:
The installation is applicable to a 35 millimeter DIN rail. Before users hang a
DVP-10PM series motion controller on a DIN rail, they have to insert a slotted
screw into the slots on the mounting clips, and pull out the mounting clips. After
the users hang the DVP-10PM series motion controller on the DIN rail, they have
to push the mounting clips back. If the users want to remove the DVP-10PM
series motion controller, they have to insert a slotted screw into the slots on the
mounting clips, and pull out the mounting clips. After the mounting clips are pulled
out, they will not move back.
1. Using screws: Please mount a DVP-10PM series motion
controller on a DIN rail by means of M4 screws.
2. A DVP-10PM series motion controller has to be installed in
a closed control box. In order to ensure that the
DVP-10PM series motion controller radiates heat
normally, there should be space between the DVP-10PM
series motion controller and the control box.
Points for attention:
1. Please use O-type terminals or Y-type terminals. The
specifications for terminals are on the right. The torque applied to
the terminal screws used should be 9.50 kg-cm (8.25 Ib-in).
Please use copper conducting wires. The temperature of the
copper conducting wires used should be 60/75°C.
2. Please do not wire NC. Please do not put the cables connected to
input terminals and the cables connected to output terminals in the
same cable tray.
3. Users have to make sure that there are no tiny metal conductors
inside a DVP-10PM series motion controller when they tighten
screws and wire terminals. In order to ensure that the DVP-10PM
series motion controller radiates heat normally, the users have to
remove the sticker on the heat hole.
2.2.2 Wiring Power Input
The power input of a DVP-10PM series motion controller is AC input. Users have to pay attention to the
following points.
1. The voltage of AC power input is in the range of 100 V AC to 240 V AC. A live wire and a neutral wire
are connected to L and N. If 110 V AC power or 220 V AC power is connected to +24V or an input
terminal on a DVP-10PM series motion controller, the DVP-10PM series motion controller will be
damaged.
2. The AC power input of a DVP-10PM series motion controller, and the AC power input of the I/O module
connected to the DVP-10PM series motion controller must be ON or OFF at the same time.
3. The length of the cable connected to the ground terminal on a DVP-10PM series motion controller is at
least 1.6 millimeters.
4. If a power cut lasts for less than 10 milliseconds, the DVP-10PM series motion controller used will keep
running without being affected. If a power cut lasts for long, or if the voltage of the power input of
DVP-10PM series motion controller decreases, the DVP-10PM series motion controller will stop
running, and the output terminals will be OFF. When the power input returns to normal, the DVP-10PM
series motion controller will resume. (Users have to notice that there are latching auxiliary relays and
registers in a DVP-10PM series motion controller when they write a program.)
5. The maximum current which can flows from the power output terminal +24V is 0.5 A. Please do not
connect any external power to +24V. The current flows into any input terminal must be in the range of 6
mA to 7 mA. If there are 16 input terminals, 100 mA will be required. As a result, the current that flows
2-6
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
from +24 V to an external load can not be greater than 400 mA.
2.2.3 Safety Wiring
A DVP-10PM series motion controller controls many devices, and the activity of any device affects the
activity of other devices. If any device breaks down, the whole automatic control system will go out of
control, and dangers will occur. As a result, it is suggested that users should create the protection circuit
shown below when they wire power input.








Alternating-current power input：100~240 VAC, 50/60 Hz
Circuit breaker
Emergency stop: The emergency stop button can be used to cut off power when an emergency
occurs.
Power indicator
Load through which a alternating current passes
3 A fuse
DVP-10PM series motion controller
Direct-current power output: 24 V DC, 500 mA
2.2.4 Wiring Input/Output Terminals
1. The power input of a DVP-10PM series motion controller is DC power input. Sinking and sourcing are
current driving capabilities of a circuit. They are defined as follows.
Sinking:
DC power input
S/S
Sinking
X0
Sinking: The current flows into the common terminal S/S.
DVP-10PM Application Manual
2-7
2 Hardware Specifications and Wiring
Equivalent circuit of an input circuit
SINK
+24V
+5V
24VDC
24G
S/S
X0
Wiring
+24V 24G
S/S X0 X1 X2
Sink Type
Sourcing:
DC power input
X0
S/S
Sourcing
Souring: The current flows from the common terminal S/S.
Equivalent circuit of an input circuit
SOURCE
+24V
24VDC
+5V
24G
S/S
X0
2-8
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
Wiring
+24V 24G
S/S X0
X1
X2
Source Type
2. Wiring differential input terminals
The direct-current signals ranging in voltage from 5 V to 24 V can pass through the high-speed input
terminals X10~X13+ on a DVP-10PM series motion controller. The frequency of input signals can be
up to 200 kHz. These high-speed input terminals are connected to a differential (two-wire) line driver.
Wiring of differential input terminals (used for high speed and noise):
DVP -1 0PM s eries mot ion c ont rolle r
High s pee d inpu t
En cod er
Ou tput
A+
X10+
A
A-
Differe ntial o utpu t
X10 -
Twiste d p ai r
B+
X11+
B-
X11 -
B
If the frequency of input signals is less than 50 kHz and there is not much noise, these high-speed input
terminals can be connected to the direct-current power input whose voltage is in the range of 5 V to 24
V, as shown below.
Sinking:
DVP 10PM
X10+
(5V S INK)
+
5~24V
X10 -
NPN
SENS OR
Sourcing:
PNP
SENS OR
DVP 10PM
+
5~24V
X10+
(5V S OURCE)
X10 -
DVP-10PM Application Manual
2-9
2 Hardware Specifications and Wiring
3. Relay output circuit




Direct-current power input
Emergency stop: An external switch is used.
Fuse: To protect the output circuit, a fuse having a breaking capacity in the range of 5 A to 10 A
is connected to a common terminal.
A diode is used to absorb the surge voltage which occurs when the load connected is OFF. It can
lengthen the lifespan of a terminal.
1. A diode is connected to a load through which a direct current passes. It is used when the
power of the load connected is small.
P LC r el ay o utp ut
L ow- po wer lo ad
Y
R
D
DC p owe r
+
C0
D: 1 N40 01 di od e
2. A diode and a zener diode are connected to a load through which a direct current passes.
They are used when the power of the load is large and the load is turned ON/OFF frequently.
P LC r el ay o utp ut
Y
Th e p owe r o f the lo ad is l ar ge an d
th e l oa d i s tur ne d O N/OFF fr eq ue ntl y.
R
DC p owe r
D ZD
+
C0
D: 1 N40 01 di od e
ZD: 9 V ze ne r d io de , 5 W
2-10



Incandescent lamp: Resistive load

Indicator: Neon lamp
Alternating-current power input
Mutually exclusive output: Y4 controls the clockwise rotation of a motor, and Y5 controls the
counterclockwise rotation of a motor. The interlock circuit which is formed, and the program in
the DVP-10PM series motion controller ensure that there will be protective measures if an
abnormal condition occurs.
DVP-10PM Application Manual
2 Hardware Specifications and Wiring

Surge absorber: It can be used to reduce the noise of a load through which an alternating
current passes.
L oa d th ro ug h wh ich an
a lte rn ati ng cur re nt p asse s
P LC r el ay o utp ut
Y
A C po wer
R
R
C
C1
R: 10 0 ~1 2 0
C: 0.1 ~0.2 4 uF
4. Transistor output circuit
DVP -1 0 PM
Tri gg er cir cui t
LED
L oa d
Y0
< 0.5A
C0
Tra nsi stor ou tpu t

Direct-current power
DVP-10PM Application Manual

Emergency stop

Fuse
2-11
2 Hardware Specifications and Wiring

Transistor output terminals are open collectors. If Y0/Y1 is a pulse output terminal, the output
current passing through an output pull-up resistor must be larger than 0.1 A to ensure that
transistor output terminals operate normally.
1. Diode: It is used when the power of the load connected is small.
P LC tr an sisto r o utp ut
Y0
L ow- po wer lo ad
+
V DC
-
D
C0
D: 1 N40 01 di od e
2. Diode and zener diode: They are used when the power of the load connected is large and the
load is turned ON/OFF frequently.
P LC tr an sisto r o utp ut
Th e p owe r o f the lo ad is l ar ge an d
th e l oa d i s tur ne d O N/OFF fr eq ue ntl y.
Y0
+
ZD D
-
V DC
C0
D: 1 N40 01 di od e
Mutually
exclusive
output:
Y4
controls the clockwise rotation of a motor, and Y5 controls the

counterclockwise rotation of a motor. The interlock circuit which is formed, and the program in the
DVP-10PM series motion controller ensure that there will be protective measures if an abnormal
condition occurs.
5. Wiring differential output terminals
 Wiring differential output terminals on a DVP-10PM series motion controller and an ASDA-A series
AC servo drive/ASDA-A+ series AC servo drive/ASDA-A2 series AC servo drive
Differ ential output ter minals on a
DVP- 10PM ser ies motion c ontr oller
Driv e
Y 10 +
/P LS 4 3
Y 10 -
P LS 4 1
Optocoupler cir cuit
FP
Twisted pair
FG 0
Y 11+
/S IGN 3 6
Y 11-
S IGN 3 7
RP
2-12
Optocoupler cir cuit
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
 Wiring differential output terminals on a DVP-10PM series motion controller and an ASDA-B series
AC servo drive
Differ ential output ter minals on a
DVP- 10PM seri es m oti on contr oller
Driv e
Y 10 +
/P LS 2 1
Y 10 -
P LS 2 2
FP
Optocoupler cir cuit
Twisted pair
FG 0
Y 11+
/S IGN 1 9
Y 11-
S IGN 2 0
Optocoupler cir cuit
RP
 Wiring differential output terminals on a DVP-10PM series motion controller and an ASDA-AB
series AC servo drive
Differ ential output ter minals on a
DVP- 10PM seri es moti on contr oller
Driv e
Y 10 +
P LS 4 3
Y 10 -
/P LS 4 1
FP
Optocoupler cir cuit
Twisted pair
FG 0
Y 11+
S IGN 3 6
Y 11-
/S IGN 3 7
RP
DVP-10PM Application Manual
Optocoupler cir cuit
2-13
2 Hardware Specifications and Wiring
2.2.5 Wiring a DVP-10PM Series Motion Controller and an Inferior Servo Drive
Wiring a DVP-10PM series motion controller and a Delta ASDA-A series AC servo drive: Four-axis wiring
Delta se rvo drive
A SDA -A se ri es
X0 ( D OG0 )
24 V
VD D
0V
C OM+
Y1 0+
/P LS
43
Y1 0-
PL S
41
Y11 +
/S IGN
36
Y11 -
SI GN
37
X2 ( D OG1 )
X4 ( D OG2 )
Y0 ( C LR 0 )
D I2
C0
C OM-
X6 ( D OG3 )
+ 24 V
S/ S
24 VD C
Delta se rvo drive
A SDA -A se ri es
VD D
C OM+
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
S hi el de d ca bl e
Y1 2+
/P LS
Y1 2-
PL S
41
Y1 3+
/S IGN
36
Y1 3-
SI GN
37
Y1 ( C LR 1 )
43
D I2
C OM-
C1
24 VD C
X1 0+
A ph ase
X1 0-
Delta se rvo drive
A SDA -A se ri es
X11 +
B ph ase
X11 -
VD D
C OM+
Y1 4+
/P LS
43
Y1 4-
PL S
41
Y1 5+
/S IGN
36
Y1 5-
SI GN
37
D I2
Y2 ( C LR 2 )
24 VD C
C2
S/ S
C OM5-2 4V DC
X1 ( PG0 )
24 VD C
Delta se rvo drive
S/ S
A SDA -A se ri es
X3 ( PG1 )
VD D
24 VD C
C OM+
S/ S
X5 ( PG2 )
Y1 6+
/P LS
S/ S
Y1 6-
PL S
41
X7 ( PG3 )
Y1 7+
/S IGN
36
Y1 7
SI GN
37
24 VD C
Y3 ( C LR 3 )
43
D I2
C3
C OM5- 2 4V DC
2-14
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
Wiring a DVP-10PM series motion controller and a Delta ASDA-A series AC servo drive: Six-axis wiring
Delta se rvo drive
A SDA -A se ri es
X0 ( DO G0 )
24 V
VD D
0V
C OM+
Y1 0+
/P LS
Y1 0-
PL S
41
Y11 +
/S IGN
36
Y11 -
SI GN
37
43
X2 ( DO G1)
X4 ( DO G2)
Delta se rvo drive
X6 ( DO G3)
+ 24 V
A SDA -A se ri es
S/ S
VD D
C OM+
24 VD C
24 VD C
X1 2+
( D OG4)
X1 2( D OG4)
X1 3+
(D OG5)
X1 3(D OG5)
Y1 2+
/P LS
Y1 2-
PL S
41
Y1 3+
/S IGN
36
Y1 3-
SI GN
37
43
Delta se rvo drive
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
S hi el de d ca bl e
A SDA -A se ri es
VD D
C OM+
X1 0+
A ph ase
X1 0X11 +
B ph ase
X11 -
Y1 4+
/P LS
Y1 4-
PL S
41
Y1 5+
/S IGN
36
Y1 5-
SI GN
37
43
24 VD C
S/ S
Delta se rvo drive
X1 (PG0)
24 VD C
A SDA -A se ri es
S/ S
VD D
X3 (PG1)
C OM+
24 VD C
S/ S
Y1 6+
/P LS
Y1 6-
PL S
41
S/ S
Y1 7+
/S IGN
36
X7 (PG3)
Y1 7
SI GN
37
X5 (PG2)
24 VD C
Delta se rvo drive
A SDA -A se ri es
43
Delta se rvo drive
VD D
VD D
C OM+
C OM+
/P LS
PL S
Y2
Y0
C2
C0
24 VD C
/P LS
PL S
24 VD C
/S IGN
Y3
Y1
/S IGN
SI GN
C3
C1
SI GN
24 VD C
DVP-10PM Application Manual
A SDA -A se ri es
24 VD C
2-15
2 Hardware Specifications and Wiring
Wiring a DVP-10PM series motion controller and a Panasonic CN5 series servo drive: Four-axis wiring
Pa nasonic se rvo drive
CN5 series
24 V
0V
X0 ( D OG0 )
Y1 0+
PU LS 1
3
Y1 0-
PU LS 2
4
Y11 +
SI GN 1
5
Y11 -
SI GN 2
6
X2 ( D OG1 )
X4 ( D OG2 )
Y0 ( C LR 0 )
X6 ( D OG3 )
+ 24 V
C0
S/ S
Pa nasonic se rvo drive
CN5 series
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
Y1 2+
PU LS 1
3
Y1 2-
PU LS 2
4
Y1 3+
SI GN 1
5
Y1 3-
SI GN 2
6
Y1 ( C LR 1 )
C1
S hi el de d ca bl e
X1 0+
A ph ase
X1 0-
Pa nasonic se rvo drive
X11 +
B ph ase
CN5 series
X11 -
Y1 4+
PU LS 1
3
Y1 4-
PU LS 2
4
Y1 5+
SI GN 1
5
Y1 5-
SI GN 2
6
Y2 ( C LR 2 )
24 VD C
C2
S/ S
X1 ( PG0 )
Pa nasonic se rvo drive
24 VD C
S/ S
CN5 series
X3 ( PG1 )
24 VD C
S/ S
X5 ( PG2 )
24 VD C
Y1 6+
PU LS 1
3
4
Y1 6-
PU LS 2
Y1 7+
SI GN 1
5
Y1 7-
SI GN 2
6
S/ S
X7 ( PG3 )
DC24V
G ND +24V
Y3 ( C LR 3 )
C3
COM+
7
G ND
13
CL
30
5-24VD C
2-16
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
Wiring a DVP-10PM series motion controller and a Panasonic CN5 series servo drive: Six-axis wiring
24 V
Pa nasonic se rvo drive
CN5 series
0V
Y1 0+
PU LS 1
3
Y1 0-
PU LS 2
4
X0 ( D OG0 )
Y11 +
SI GN 1
5
X2 ( D OG1 )
Y11 -
SI GN 2
6
X4 ( D OG2 )
X6 ( D OG3 )
Pa nasonic se rvo drive
+ 24 V
S/ S
CN5 series
24 VD C
24 VD C
X1 2+
( D OG4)
X1 2( D OG4)
X1 3+
( D OG5)
X1 3(D OG5)
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
S hi el de d ca bl e
Y1 2+
PU LS 1
3
Y1 2-
PU LS 2
4
Y1 3+
SI GN 1
5
Y1 3-
SI GN 2
6
Pa nasonic se rvo drive
CN5 series
Y1 4+
PU LS 1
3
Y1 4-
PU LS 2
4
Y1 5+
SI GN 1
5
Y1 5-
SI GN 2
6
X1 0+
A ph ase
X1 0B ph ase
X11 +
Pa nasonic se rvo drive
X11 -
CN5 series
Y1 6+
PU LS 1
3
Y1 6-
PU LS 2
4
Y1 7+
SI GN 1
5
Y1 7-
SI GN 2
6
24 VD C
S/ S
Pa nasonic se rvo drive
X1 (PG0 )
CN5 series
24 VD C
S/ S
Y0
PU LS 1
3
X3 (PG1 )
C0
PU LS 2
4
24 VD C
Y1
SI GN 1
5
C1
SI GN 2
6
S/ S
X5 (PG2 )
24 VD C
S/ S
Pa nasonic se rvo drive
X7 (PG3 )
CN5 series
DVP-10PM Application Manual
Y2
PU LS 1
3
C2
PU LS 2
4
Y3
SI GN 1
5
C3
SI GN 2
6
2-17
2 Hardware Specifications and Wiring
Wiring a DVP-10PM series motion controller and a Yaskawa servo drive: Four-axis wiring
Yask awa serv o drive
Yaska wa se ri e s
24 V
0V
X0 ( D OG0 )
Y1 0+
PL S
7
Y1 0-
/P LS
8
Y11 +
SI GN
11
Y11 -
/S IGN
12
Y0 ( C LR 0 )
C LR
15
C0
/C L R
14
X2 ( D OG1 )
X4 ( D OG2 )
X6 ( D OG3 )
+ 24 V
S/ S
24 VD C
Yask awa serv o driv e
Yaska wa se ri e s
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
Y1 2+
PL S
7
Y1 2-
/P LS
8
Y1 3+
SI GN
11
Y1 3-
/S IGN
12
Y1 ( C LR 1 )
C LR
15
/C L R
14
C1
S hi el de d ca bl e
24 VD C
X1 0+
A ph ase
B ph ase
X1 0-
Yask awa serv o driv e
X11 +
Yaska wa se ri e s
X11 -
Y1 4+
PL S
7
Y1 4-
/P LS
8
Y1 5+
SI GN
11
Y1 5-
/S IGN
12
C LR
15
/C L R
14
Y2 ( C LR 2 )
24 VD C
C2
S/ S
24 VD C
X1 (PG0 )
Yask awa serv o driv e
24 VD C
Yaska wa se ri e s
S/ S
X3 (PG1 )
24 VD C
S/ S
X5 (PG2 )
Y1 6+
PL S
7
S/ S
Y1 6-
/P LS
8
X7 (PG3 )
Y1 7+
SI GN
11
/S IGN
12
C LR
15
/C L R
14
24 VD C
Y1 7-
Y3 ( C LR 3 )
C3
2-18
2 4V DC
- +
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
Wiring a DVP-10PM series motion controller and a Yaskawa servo drive: Six-axis wiring
X0 ( DO G0 )
24 V
Yaskawa servo d rive
0V
Yaska wa se ri es
Y1 0+
PL S
7
Y1 0-
/P LS
8
Y11 +
SI GN
11
Y11 -
/S IGN
12
X2 ( DO G1 )
X4 ( DO G2 )
X6 ( DO G3 )
Yaskawa servo d rive
+ 24 V
S/ S
24 VD C
24 VD C
Yaska wa se ri es
Y1 2+
PL S
7
Y1 2-
/P LS
8
Y1 3+
SI GN
11
Y1 3-
/S IGN
12
X1 2+
(D OG4)
X1 2(D OG4)
X1 3+
( D OG5)
X1 3( D OG5)
Yaskawa servo d rive
Yaska wa se ri es
Y1 4+
PL S
7
Y1 4-
/P LS
8
Y1 5+
SI GN
11
Y1 5-
/S IGN
12
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
S hi el de d ca bl e
Yaskawa servo d rive
X1 0+
A ph ase
Yaska wa se ri es
X1 0X11 +
B ph ase
Y1 6+
PL S
7
Y1 6-
/P LS
8
Y1 7+
SI GN
11
Y1 7-
/S IGN
12
X11 -
Yaskawa servo d rive
Yaska wa se ri es
24 VD C
S/ S
Y0
PL S
7
C0
/P LS
8
Y1
SI GN
11
C1
/S IGN
12
X1 (PG0)
24 VD C
S/ S
X3 (PG1)
24 VD C
S/ S
X5 (PG2)
Yaskawa servo d rive
24 VD C
Yaska wa se ri es
S/ S
X7 (PG3)
DVP-10PM Application Manual
Y2
PL S
7
C2
/P LS
8
Y3
SI GN
11
C3
/S IGN
12
2-19
2 Hardware Specifications and Wiring
Wiring a DVP-10PM series motion controller and a Mitsubishi MJR2 series servo drive: Four-axis wiring
Mitsubishi servo drive
Mitsubishi
MJR2 ser ie s
24 V
0V
Y1 0+
PP
3
Y1 0-
PG
13
Y11 +
NP
2
Y11 -
NG
12
Y0 ( C LR 0 )
CR
8
C0
SG
10
X0 ( D OG0 )
X2 ( D OG1 )
X4 ( D OG2 )
X6 ( D OG3 )
+ 24 V
S/ S
24 VD C
Mitsubishi servo drive
Mitsubishi
MJR2 ser ie s
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
S hi el de d ca bl e
Y1 2+
PP
3
Y1 2-
PG
13
Y1 3+
NP
2
Y1 3-
NG
12
Y1 ( C LR 1 )
CR
8
C1
SG
10
24 VD C
X1 0+
A ph ase
X1 0-
Mitsubishi servo drive
X11 +
B ph ase
Mitsubishi
MJR2 ser ie s
X11 -
24 VD C
Y1 4+
PP
3
Y1 4-
PG
13
Y1 5+
NP
2
Y1 5-
NG
12
Y2 ( C LR 2 )
CR
8
C2
SG
10
S/ S
24 VD C
X1 (PG0 )
24 VD C
Mitsubishi servo drive
Mitsubishi
S/ S
MJR2 ser ie s
X3 (PG1 )
24 VD C
Y1 6+
PP
3
Y1 6-
PG
13
Y1 7+
NP
2
Y1 7-
NG
12
S/ S
X5 (PG2 )
24 VD C
S/ S
X7 (PG3 )
DC 24V
GND +24V
DICO M 20
Y3 ( C LR 3 )
C3
DO COM 46
CR
41
5 -2 4V DC
2-20
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
Wiring a DVP-10PM series motion controller and a Mitsubishi MJR2 series servo drive: Six-axis wiring
Mitsubishi servo drive
24 V
Mitsubishi
0V
MJR2 ser ie s
Y1 0+
PP
3
Y1 0-
PG
13
Y11 +
NP
2
Y11 -
NG
12
X0 ( DO G0 )
X2 ( DO G1 )
X4 ( DO G2 )
X6 ( DO G3 )
Mitsubishi servo drive
+ 24 V
S/ S
Mitsubishi
MJR2 ser ie s
24 VD C
24 VD C
Y1 2+
PP
3
Y1 2-
PG
13
Y1 3+
NP
2
Y1 3-
NG
12
X1 2+
(D OG4)
X1 2(D OG4)
X1 3+
( D OG5)
X1 3( D OG5)
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
Mitsubishi servo drive
Mitsubishi
MJR2 ser ie s
Y1 4+
PP
3
Y1 4-
PG
13
Y1 5+
NP
2
Y1 5-
NG
12
S hi el de d ca bl e
X1 0+
Mitsubishi servo drive
A ph ase
X1 0-
Mitsubishi
X11 +
MJR2 ser ie s
B ph ase
X11 Y1 6+
PP
3
Y1 6-
PG
13
Y1 7+
NP
2
NG
12
Y1 7-
Mitsubishi servo drive
Mitsubishi
24 VD C
MJR2 ser ie s
S/ S
X1 (PG0)
24 VD C
Y0
PP
3
C0
PG
13
Y1
NP
2
C1
NG
12
S/ S
X3 (PG1)
24 VD C
S/ S
X5 (PG2)
Mitsubishi servo drive
24 VD C
Mitsubishi
S/ S
MJR2 ser ie s
X7 (PG3)
DVP-10PM Application Manual
Y2
PP
3
C2
PG
13
Y3
NP
2
C3
NG
12
2-21
2 Hardware Specifications and Wiring
Wiring a DVP-10PM series motion controller and a Fuji servo drive: Four-axis wiring
Fuji servo drive
Fu ji ser ie s
24 V
0V
X0 ( D OG0 )
X2 ( D OG1 )
Y1 0+
CA
Y1 0-
*C A
36
Y11 +
CB
33
Y11 -
*C B
34
35
X4 ( D OG2 )
Y0 ( C LR 0 )
X6 ( D OG3 )
+ 24 V
C0
S/ S
Fuji servo drive
Fu ji ser ie s
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
S hi el de d ca bl e
Y1 2+
CA
Y1 2-
*C A
36
Y1 3+
CB
33
Y1 3-
*C B
34
35
Y1 ( C LR 1 )
C1
X1 0+
A ph ase
X1 0-
Fuji servo drive
X11 +
Fu ji ser ie s
B ph ase
X11 -
Y1 4+
CA
Y1 4-
*C A
36
Y1 5+
CB
33
Y1 5-
*C B
34
35
Y2 ( C LR 2 )
24 VD C
C2
S/ S
X1 ( PG0 )
24 VD C
Fuji servo drive
S/ S
Fu ji ser ie s
X3 ( PG1 )
24 VD C
S/ S
X5 ( PG2 )
Y1 6+
CA
S/ S
Y1 6-
*C A
36
X7 ( PG3 )
Y1 7+
CB
33
Y1 7-
*C B
34
24 VD C
35
Y3 ( C LR 3 )
C3
2-22
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
Wiring a DVP-10PM series motion controller and a Fuji servo drive: Six-axis wiring
X0 ( D OG0 )
X2 ( D OG1 )
24 V
Fuji servo drive
0V
Fu ji ser ie s
Y1 0+
CA
Y1 0-
*C A
36
Y11 +
CB
33
Y11 -
*C B
34
35
X4 ( D OG2 )
X6 ( D OG3 )
Fuji servo drive
+ 24 V
S/ S
Fu ji ser ie s
24 VD C
24 VD C
Y1 2+
CA
Y1 2-
*C A
36
Y1 3+
CB
33
Y1 3-
*C B
34
X1 2+
( D OG4)
X1 2( D OG4)
X1 3+
( D OG5)
X1 3( D OG5)
P ul ses g en er ate d b y a
ma nu al pu lse ge ne ra tor
S hi el de d ca bl e
35
Fuji servo drive
Fu ji ser ie s
Y1 4+
CA
Y1 4-
*C A
36
Y1 5+
CB
33
Y1 5-
*C B
34
35
X1 0+
A ph ase
Fuji servo drive
X1 0-
Fu ji ser ie s
X11 +
B ph ase
X11 -
Y1 6+
CA
Y1 6-
*C A
36
Y1 7+
CB
33
Y1 7-
*C B
34
35
Fuji servo drive
Fu ji ser ie s
24 VD C
S/ S
Y0
CA
C0
*C A
36
S/ S
Y1
CB
33
X3 (PG1 )
C1
*C B
34
35
X1 (PG0 )
24 VD C
24 VD C
S/ S
X5 (PG2 )
Fuji servo drive
24 VD C
Fu ji ser ie s
S/ S
X7 (PG3 )
DVP-10PM Application Manual
Y2
CA
C2
*C A
36
Y3
CB
33
C3
*C B
34
35
2-23
2 Hardware Specifications and Wiring
2.3 Communication Ports
A DVP-10PM series motion controller is equipped with COM1 (RS-232 port), COM2 (RS-485 port), and a
communication card (COM3 (RS-232 or RS-485 communication)).
COM1: It is an RS-232 port. It can function as a slave station. A program is edited through this port. COM1
can be used in a Modbus ASCII mode or an RTU mode.
COM2: It is an RS-485 port. It can function as a master station or a slave station. It can be used in a
Modbus ASCII mode or an RTU mode.
COM3: It is an RS-232/RS-485 port. It can function as a slave station. It can be used in a Modbus ASCII
mode.
Communication architecture:
Communication port
Communication parameter
Serial transmission rate
Number of data bits
Parity bit
Number of stop bits
Register where a communication
format is stored
RS-232 port
(COM1)
RS-485 port
(COM2)
110~115,200 bps
7 bits~8 bits
Even/Odd parity bit/None
1 data bit~2 data bits
110~38,400 bps
D1036
D1120
ASCII mode
Slave station
RTU mode
Slave station
Quantity of data read/written (ASCII
mode)
Quantity of data read/written (RTU
mode)
RS-232/RS-485 port
(COM3)
D1109
Master station/
Slave station
Master station/
Slave station
Slave station
-
100 registers
32 registers
100 registers
32 registers
Default communication protocol supported by a communication port
 Modbus ASCII mode
 7 data bits
 1 stop bit
 Even parity bit
 Serial transmission rate: 9600 bps
2.3.1 COM1 (RS-232 Port)
1. COM1 is an RS-232 port. Users can upload the program in a DVP-10PM series motion controller
through COM1, and download a program to DVP-10PM series motion controller through COM1. The
communication protocols that COM1 supports are Modbus ASCII and Modbus RTU, and the
transmission rate supported is in the range of 9,600 bps to 57,600 bps.
The communication cable DVPACAB2A30 is described below.
TO PC
9
5
6
1
TO DVP-PM
MINI DIN TERMINAL
9 PIN D-SUB
2-24
DVP-10PM Application Manual
2 Hardware Specifications and Wiring
Communication port on a PC/TP
9-pin D-SUB female connector
Tx
Rx
GND
3
2
5
7
8
1
4
6
COM1 on a DVP-10PM series motion controller
8-pin Mini-DIN connector
4
Rx
5
Tx
8
G ND
1,2 5V
2
5
1
4
8
3
6
7
2. COM1 functions as a slave station. It can be connected to a human-machine interface.
2.3.2 COM2 (RS-485 Port)
1. COM2 is an RS-485 port. It can function as a master station or a slave station. The communication
protocols that COM2 supports are Modbus ASCII and Modbus RTU, and the transmission rate
supported is in the range of 9,600 bps to 115,200 bps.
2. COM2 can function as a master station or a slave station. If it functions as a master station, it can be
connected to a Delta PLC, or an inferior drive such as a Delta servo drive, a Delta AC motor drive, or a
temperature controller, and read/write data. If it functions as a slave station, it can be connected to a
human-machine interface such as a Delta TP series HMI or DOP series HMI.
2.3.3 COM3 (RS-232/RS-485 Port)
1. If COM1 (RS-232 port) and COM2 (RS-485 port) can not fulfill a communication requirement, users
can use the function card DVP-F232S or DVP-F485S to add a communication interface called COM3
(RS-232/RS485 interface). The functions of DVP-F232S/DVP-F485S is the same as those of COM1,
but the transmission rate that DVP-F232S/DVP-F485 supports is 9600/19200/38400 bps in an ASCII
mode.
2. COM3 functions as a slave station. It can be connected to a human-machine interface.
DVP-10PM Application Manual
2-25
2 Hardware Specifications and Wiring
MEMO
2-26
DVP-10PM Application Manual
3 Devices
3.1 Device Lists
 Functional specifications
Item
Operation of axes
Storage
Unit
Master mode
Slave mode
Pulse output
Maximum speed
Switch
Differential
input signal
Specifications
Six axes operate synchronously or independently.
The capacity of a built-in storage is 64K steps.
Motor unit
Compound unit
Mechanical unit
Users can read the data in control registers in an I/O
module by means of the instruction FROM and write data
into control registers in an I/O module by means of the
instruction TO. If the data read or written is 32-bit data, two
control registers will be used.
Not supported
There are three types of pulse output modes. These modes
adopt differential output.
1. Pulse/Direction
2. Counting up/Counting down
3. A/B-phase output
Single axis: 1000K pps
Multi-axis interpolation: 1000K pps
STOP/RUN switch (Manual/Automatic switch)
Remark
X10+, X10-, X12+, X12-, X11+, X11-, X13+, and X13-
X0~X7
They can be connected to I/O modules. The maximum
Detector
number of expansion input terminals is 256, including the
number of input terminals on a DVP-10PM series motion
controller.
Y10+, Y10-, Y12+, Y12-, Y14+, Y14-, Y16+, Y16-, Y11+,
Differential
output signal Y11-, Y13+, Y13-, Y15+, Y15-, Y17+, and Y17Y0~Y3
They can be connected to I/O modules. The maximum
General output number of expansion output terminals is 256, including the
number of output terminals on a DVP-10PM series motion
controller.
Output signal
The communication ports which can be used for the
reading/writing of a program are as follows.
COM1: RS-232 port (It can function as a slave station.)
Serial
communication COM2: RS-485 port (It can function as a master station or
port
a slave station.)
COM3 (Communication card): RS-232/RS-485 port (It can
function as a slave station, and it is optionally required.)
The EH2 series special right-side modules which are
supported are AD, DA, PT, TC, XA, and PU. (Eight special
Special I/O
Optional
right-side modules can be connected at most, and they do
module
purchase
not occupy I/O devices.)
Input signal
Special
function card
Optional
purchase
Number of basic instructions
Number of applied
instructions
Number of motion instructions
DVP-10PM Application Manual
The function cards which are supported are 02AD, 02DA,
and COM3.
27
130
-
3-1
3 Devices
Item
Specifications
Remark
 Ox0~Ox99 (motion subroutine/positioning program):
X
Y
M
Relay (Bit device)
T
C
S
3-2
M02 (The execution of a program stops. (END))
 M00~M01, M03~M101, and M103~M65535: The
execution of a program pauses. (WAIT) (Users can
M-code
use them freely.)
 O100 (main program in a DVP-10PM series motion
controller/subtask program): M102 (The execution of a
program stops. (END))
Not supported
G-code
Errors such as parameter errors, program errors, and
Self-diagnosis
external errors are displayed.
X0~X377; octal numbers; 256 external input relays
External input relay
(corresponding to external input terminals)
512 relays in total
Y0~Y377, octal numbers, 256 external output relays
External output relay
(corresponding to external output terminals)
M0~M499; 500 general auxiliary relays (*2)
There are 4,096
General
M3000~M4095; 1096 general auxiliary relays (*3)
auxiliary relays in
Auxiliary
total. They can be set
Latching M500~M999; 500 latching auxiliary relays (*3)
relay
to ON/OFF in a
M1000~M2999; 2000 special auxiliary relays (Some
program.
Special
special auxiliary relays are latching auxiliary relays.)
There are 256 timers
in total. If the present
value of the timer
specified by the
T0~T255; 256 timers (*2)
Timer
10 ms
instruction TMR
matches the value
set, the contact of the
timer will be ON.
C0~C99;
100
16-bit
up
counters
(*2)
There are 250
16-bit up
counters in total. If
counter C100~C199; 100 16-bit up counters (*3)
the present value of
32-bit
C210~C219; 12 32-bit up/down counters (*2)
the counter specified
up/down
Counter
by the instruction
C220~C255;
36
32-bit
up/down
counters
(*3)
counter
CNT (DCNT)
32-bit
matches the value
C200, C204, C208, C212, C216, and C220; 6 32-bit
high-speed
set, the contact of the
high-speed counters
counter
counter will be ON.
There are 1,024
General S0~S499; 500 stepping relays (*2)
stepping relays in
Stepping
total. They can be set
relay
Latching S500~S1023; 524 stepping relays (*3)
to ON/OFF in a
program.
DVP-10PM Application Manual
3 Devices
Item
Specifications
Present value of a
timer
T
T0~T255; 16-bit timers; 256 timers
Register (Word device)
C0~C199; 16-bit counters; 200 counters
Present value of a
counter
C
C200~C255; 32-bit counters; 56 counters
General
Latching
D
Data
register
Special
Index
Pointer
P
Used with CJ, CJN,
CALL, or JMP
K
Decimal system
Remark
If the present value of
a timer matches the
value set, the contact
of the timer will be
ON.
If the present value of
a counter matches
the value set, the
contact of the counter
will be ON.
D0~D199; 200 general data registers (*2)
D200~D999; 800 latching data registers (*3)
D3000~D9999; 7000 latching data registers (*3)
D1000~D2999; 2000 special data registers (Some special
data registers are latching data registers.)
V0~V7 (16-bit registers); Z0~Z7 (32-bit registers); 16
index registers (*1)
There are 10,000
registers in total.
Users can store data
in data registers. V/Z
registers are index
registers.
P0~P255; 256 pointers
It is used with CJ,
CJN, CALL, or JMP.
K-32,768~K32,767 (16-bit operation)
Constant
K-2,147,483,648~K2,147,483,647 (32-bit operation)
H
Hexadecimal system
F
Floating-point
number
H0000~HFFFF (16-bit operation);
H00000000~HFFFFFFFF (32-bit operation)
32-bit operation: ±1.1755X10-38~±3.4028X10+38
(The IEEE 754 standard is used.)
*1: They are non-latching devices, and can not be changed.
*2: They are non-latching devices. Users can change them to latching devices by setting parameters.
*3: They are latching devices. Users can change them to non-latching devices by setting parameters.
*4: They are latching devices, and can not be changed.
 Latching and non-latching memory devices
Auxiliary relay
(M)
General auxiliary relays
Special auxiliary relays
M0~M499
M500~M999 M3000~M4095
M1000~M2999
Non-latching
Latching
Non-latching (They are in the general auxiliary relay range.)
Start: D1200 (K500)*1
End: D1201 (K999) *1
10 ms
T0~T255
Non-latching
Start: D1202 (K-1) *2; End: D1203 ( K-1) *2
Timer
(T)
16-bit up counters
Counter
(C)
Some special auxiliary relays are latching
auxiliary relays. They can not be changed.
C0~C99
C100~C199
Non-latching
Latching
Start: D1204 (K100)
End: D1205 (K199)
DVP-10PM Application Manual
32-bit up/down counters
C200, C204, and
C220~C255
C208~C219
Non-latching
Latching
Start: D1206 (K220)
End: D1207 (K255)
3-3
3 Devices
Stepping relay
(S)
Initial stepping relays
General stepping relay
Latching stepping relay
S0~S9
S10~S499
S500~S1023
Non-latching
Latching
Start: D1208 (K500); End: D1209 (K1023)
General data registers
Latching data registers
D0~D999
D3000~D9999
Data register
(D)
Special data registers
D1000~D2999
(They are between the general data
register range and the latching data
register range.)
Non-latching
Latching
Some special data registers are latching data
Start: D1210 (K200) *3
registers. They can not be changed.
End: D1211 (K9999) *3
*1: If the value in D1200 is 0, and the value in D1201 is 4095, the DVP-10PM series motion controller used will
automatically skip M1000~M2999, and M0~M999 and M3000~M4095 will be changed to latching devices.
*2: K-1 indicates that the timers are non-latching devices.
*3: If the value in D1210 is 0, and the value in D1211 is 9999, the DVP-10PM series motion controller used will
automatically skip D1000~D2999, and D0~M999 and D3000~D9999 will be changed to latching devices.
 When power is switched ON/OFF, or when the DVP-10PM series motion controller used switches
between a manual mode and an automatic mode, the action of general devices are as shown below.
Memory
type
Power
STOP=>RUN
OFF=>ON
Non-latching Cleared
Latching
RUN=>STOP
Cleared when M1033
is OFF
Unchanged
Unchanged when
M1033 is ON
Unchanged
Clearing all
Clearing all
non-latching devices latching devices Factory
setting
(M1031 is ON.)
(M1032 is ON.)
Cleared
Unchanged
0
Unchanged
Cleared
0
3.2 Values, Constants, and Floating-point Numbers
K Decimal system
Constant
H Hexadecimal system
Floating-point
F 32-bit number
number
16-bit operation: K-32,768~K32,767
32-bit operation: K-2,147,483,648~K2,147,483,647
16-bit operation: H0~HFFFF
32-bit operation: H0~HFFFFFFFF
32-bit operation: ±1.1755X10-38~±3.4028X10+38
(The IEEE 754 standard is used.)
A DVP-10PM series motion controller performs operations on five types of values according to various
control purposes. The functions of the five types of values are described below.
1. Binary number (BIN)
The values on which a DVP-10PM series motion controller performs operations, and the values stored
in the DVP-10PM series motion controller are binary numbers. Binary numbers are described below.
Bit:
A bit is the basic unit of information in the binary system. Its state is either 1 or 0.
Nibble:
A nibble is composed of four consecutive bits (e.g. b3~b0). Nibbles can be used to
represent 0~9 in the decimal system, or 0~F in the hexadecimal system.
Byte:
A byte is composed of two consecutive nibbles (i.e. 8 bits, b7~b0). Bytes can be used
to represent 00~FF in the hexadecimal system.
Word:
A word is composed of two consecutive bytes (i.e. 16 bits, b15~b0). Words can be
used to represent 0000~FFFF in the hexadecimal system.
Double word: A double word is composed of two consecutive words (i.e. 32 bits, b31~b0). Double
words can be used to represent 00000000~FFFFFFFF in the hexadecimal system.
3-4
DVP-10PM Application Manual
3 Devices
The relation among bits, nibbles, bytes, words, and double words in the binary system is shown below.
DW
D ouble w ord
W1
W0
BY 3
N B7
B Y2
N B6
N B5
W ord
BY 1
N B4
N B3
BY0
N B2
N B1
B yt e
N B0
b31b30 b29 b28 b27 b26 b25 b24b23 b22 b21 b20b19 b18 b17 b16 b15 b14 b13 b12 b11 b10 b9 b8 b7 b6 b5 b4 b3 b2 b1 b0
N ib ble
B it
2. Octal number (OCT)
The external input terminal numbers and the external output terminal numbers on a DVP-10PM series
motion controller are octal numbers.
 External input terminals: X0~X7, X10~X17… (Device numbers)
 External output terminals: Y0~Y7, Y10~Y17… (Device numbers)
3. Decimal number (DEC)
 A decimal number can be used as the setting value of a timer, or the setting value of a counter, e.g.
TMR T0 K50 (K indicates that the value following it is a constant.).
 A decimal number can be used as an S/M/T/C/D/V/Z/P device number, e.g. M10 and T30.
 A decimal number can be used as an operand in an applied instruction, e.g. MOV K123 D0 (K
indicates that the value following it is a constant.).
4. Binary-coded decimal number (BCD)
A decimal value is represented by a nibble or four bits, and therefore sixteen consecutive bits can
represent a four-digit decimal value. A binary-coded decimal number is mainly used as the input value
of a DIP switch, or the value displayed on a seven-segment display.
5. Hexadecimal Number (HEX)
 A hexadecimal number can be used as an operand in an applied instruction, e.g. MOV H1A2B D0
(H indicates that the value following it is a constant.).
Constant (K): A decimal number in a DVP-10PM series motion controller is generally preceded by K. For
example, K100 represents the decimal number 100.
Exception:
If K is used with an X/Y/M/S device, a nibble device, a byte device, a word device, or a
double word device will be formed.
Example:
K1Y10 represents a device composed of 4 bits, K2Y10 represents a device composed of
8 bits, K3Y10 represents a device composed of 12 bit, and K4Y10 represents a device
composed of 16 bits. K1M100 represents a device composed of 4 bits, K2M100
represents a device composed of 8 bits, K3M100 represents a device composed of 12
bit, and K4M100 represents a device composed of 16 bits.
Constant (H): A hexadecimal number in a DVP-10PM series motion controller is generally preceded by H.
For example, the hexadecimal number H100 represents the decimal number 256.
Floating-point number (F): A floating-point number in a DVP-10PM series motion controller is generally
preceded by F. For example, the floating-point number F3.123 represents
3.123.
DVP-10PM Application Manual
3-5
3 Devices
Value table:
Binary number
(BIN)
For internal operations in a
DVP-10PM series motion
controller
0 0 0 0
0 0 0 0
0 0 0 0
0 0 0 1
0 0 0 0
0 0 1 0
0 0 0 0
0 0 1 1
0 0 0 0
0 1 0 0
0 0 0 0
0 1 0 1
0 0 0 0
0 1 1 0
0 0 0 0
0 1 1 1
0 0 0 0
1 0 0 0
0 0 0 0
1 0 0 1
0 0 0 0
1 0 1 0
0 0 0 0
1 0 1 1
0 0 0 0
1 1 0 0
0 0 0 0
1 1 0 1
0 0 0 0
1 1 1 0
0 0 0 0
1 1 1 1
0 0 0 1
0 0 0 0
0 0 0 1
0 0 0 1
:
:
:
:
:
0 1 1 0
0 0 1 1
Octal number
(OCT)
X/Y device
number
0
1
2
3
4
5
6
7
10
11
12
13
14
15
16
17
20
21
:
:
:
:
:
143
Binary-coded decimal
Hexadecimal
number
Number
(BCD)
(HEX)
Constant (K)
Input value of a DIP switch, and
the value displayed on a
Constant (H)
M/S/T/C/D/V/Z/P
seven-segment display
device number
0
0 0 0 0
0 0 0 0
0
1
0 0 0 0
0 0 0 1
1
2
0 0 0 0
0 0 1 0
2
3
0 0 0 0
0 0 1 1
3
4
0 0 0 0
0 1 0 0
4
5
0 0 0 0
0 1 0 1
5
6
0 0 0 0
0 1 1 0
6
7
0 0 0 0
0 1 1 1
7
8
0 0 0 0
1 0 0 0
8
9
0 0 0 0
1 0 0 1
9
10
0 0 0 1
0 0 0 0
A
11
0 0 0 1
0 0 0 1
B
12
0 0 0 1
0 0 1 0
C
13
0 0 0 1
0 0 1 1
D
14
0 0 0 1
0 1 0 0
E
15
0 0 0 1
0 1 0 1
F
16
0 0 0 1
0 1 1 0
10
17
0 0 0 1
0 1 1 1
11
:
:
:
:
:
:
:
:
:
:
:
:
:
:
:
99
1 0 0 1
1 0 0 1
63
Decimal number
(DEC)
3.3 External Input Devices and External Output Devices
 Input devices: X0~X377
Input device numbers are octal numbers. A DVP-10PM series motion controller has 256 input devices
at most (X0~X7, X10~X17, ……, X370~X377).
 Output devices: Y0~Y377
Output device numbers are octal numbers. A DVP-10PM series motion controller has 256 output
devices at most (YX0~Y7, Y10~Y17, ……, Y370~Y377).
 Functions of input devices:
After X devices in a DVP-10PM series motion controller are connected to an input device, the input
signals sent to the DVP-10PM series motion controller will be read. There is no limitation on the
number of times the Form A contact/the Form B contact of an X device can be used in a program. The
state of an X device varies with the state of the input device to which the X device is connected.
 Users can turn X devices ON/OFF by means of M1304.
If M1304 is OFF, X devices can not be turned ON/OFF by means of PMSoft. If M1304 is ON, X devices
can be turned ON/OFF by means of PMSoft. However, if users use PMSoft to turn ON/OFF X devices
in a DVP-10PM series motion controller when M1304 is ON, the function of updating input signals will
be disabled.
 Functions of output devices:
A Y device sends a signal to drive the load connected to it. There are two types of output devices. They
are relays and transistors. There is no limitation on the number of times the Form A contact/the Form B
contact of a Y device can be used in a program. However, it is suggested that a Y device should be
3-6
DVP-10PM Application Manual
3 Devices
used once in a program. If a Y device is used more than once in a program, the state of the Y device
depends on the Y device used last time.
X0
Y0
The state of Y0 depends on circuit 2 , that is, the
state of X10 determines the state of Y0.
1
Y0 is us ed twic e.
X10
Y0
2
Device memory
The procedure for processing the program in a DVP-10PM series motion controller is described below.
 Regenerating an input signal:
1. Before a DVP-10PM series motion
controller executes a program, it
reads the states of the input signals
sent to it into its input memory.
2. If the states of the input signals
change during the execution of the
program, the states of input signals
stored in the input memory will not
change until the DVP-10PM series
motion controller reads the states of
the input signals sent to it next time.
Regener ating input signals
3.
The time it takes for an input device in
Input
the program to receive the state of an
external signal is about 10
Input ter minals
milliseconds. (The time it takes for a
The inp ut signa ls are read
contact in the program to receive the
into the input memory.
state of an external signal may be
Input memory
affected by the time it takes for the
T he state of X0 is r ead from the input memory.
Pr oc essing the pr ogram
program to be scanned.)
Wri ting the
X0
state of Y0
 Processing a program:
Y0
After the DVP-10PM series motion
Readi ng the state of Y0
controller reads the states of the input
Y0
signals stored in the input memory, the
M0
Wri ting the
execution of the instructions in the
state of M0
program will start from the beginning of
Regener ating output s ignals
Output
the program. After the program is
Latch memor y
executed, the states of the Y devices
used in the program will be stored in the
device memory in the DVP-10PM series
Output terminals
motion controller.
 Regenerating an output signal:
Output
1. After M102 is executed, the states of
the Y devices stored in the device
memory will be sent to the latch
memory in the DVP-10PM series
motion controller.
2. The time it takes for a relay to be
turned form ON to OFF or turned
from OFF to ON is about 10.
3. The time it takes for a transistor to be
turned form ON to OFF or turned
from OFF to ON is about 10~20
milliseconds.
DVP-10PM Application Manual
3-7
3 Devices
3.4 Auxiliary Relays
Auxiliary relay (M): Auxiliary relay numbers are decimal numbers.
M0~M499 (500 general auxiliary relays)
General auxiliary relay Users can change M0~M499 to latching devices by setting
parameters.
M500~M999 and M3000~M4095 (1,596 latching auxiliary
Auxiliary relay
relays)
(M)
Latching auxiliary relay
Users can change M0~M499 to non-latching devices by
setting parameters.
M1000~M2999 (2,000 special auxiliary relays)
Special auxiliary relay
Some of them are latching devices.
4,096
auxiliary
relays in
total
Functions of auxiliary relays:
An M device has an output coil and a Form A contact/Form B contact. There is no limitation on the number
of times an M device can be used in a program. Users can combine control loops by means of M devices,
but can not drive external loads by means of M devices. There are three types of auxiliary relays.
1. General auxiliary relay:
If a power cut occurs when a DVP-10PM series motion controller runs, the
general auxiliary relays in the DVP-10PM series motion controller will be
reset to OFF. When the supply of electricity is restored, the general
auxiliary relays are still OFF.
2. Latching auxiliary relay:
If a power cut occurs when a DVP-10PM series motion controller runs, the
latching auxiliary relays will remain in their last states. When the supply of
electricity is restored, the latching auxiliary relays remain unchanged.
3. Special auxiliary relay:
Every auxiliary relay has its own specific function. Please do not use the
auxiliary relays which are not defined. Users can refer to section 3.10 for
more information about special auxiliary relays and special data registers,
and refer to section 3.11 for more information about the functions of
special auxiliary relays and functions of special data registers.
3.5 Stepping Relays
Stepping relay (S): Stepping relay numbers are decimal numbers.
S0~S499 (490 general stepping relays)
General
stepping relay Users can change S0~S499 to latching devices by setting
parameters.
Stepping relay
(S)
S500~S1023 (524 latching stepping relays)
Latching
stepping relay Users can change S500~S1023 to non-latching devices by setting
parameters.
1,024
stepping
relays in
total
Functions of stepping relays:
There are 1024 stepping relays (S0~S1023). An S device has an output coil and a Form A contact/Form B
contact. There is no limitation on the number of times an S device can be used in a program. Users can not
drive external loads by means of S devices. An S device can be used as a general auxiliary relay.
3.6 Timers
Timer (T): Timer numbers are decimal numbers.
Timer
(T)
10 ms
General timer
T0~T255 (256 general timers)
Users can change T0~T255 to latching devices by setting parameters.
Functions of timers:
10 milliseconds are a unit of measurement for time. A timer counts upwards for measuring time which
elapses. If the present value of a timer is equal to the value set, the output coil of the timer will be ON. The
3-8
DVP-10PM Application Manual
3 Devices
value set can be a decimal value preceded by K, or the value in a data register.
Actual time measured by a timer= Unit of measurement for time x Setting value
1. If the instruction TMR is executed, a timer will count for measuring time which elapses once. If the value
of a timer matches the value set, the output coil of the timer will be ON.
X0
 If X0 is ON, the timer T0 will count upwards
from the present time value every 10
TMR
T0
K100
milliseconds. If the present timer value matches
T0
the setting value K100, the output coil T0 will be
Y0
ON.
 If X0 is OFF, or there is a power cut, the present
1 s econd
value in T0 will become 0, and the output coil T0
will be OFF.
X0
T he setting value is K 100.
Pr es ent value
T0
Y0
Setting value: Actual time measured by a timer= Unit of measurement for time x Setting value
1. Constant preceded by K: A setting value can be a constant preceded by K.
2. Value in a data register:
A setting value can be the value in a data register.
3.7 Counters
Counter (C): Counter numbers are decimal numbers.
16-bit up counter
32-bit up/down
counter
C0~C199 (200 16-bit up
counters)
C220~C255 (36 32-bit
up/down counters)
(Accumulation)
If the present value of the counter
236
specified by the instruction CNT
counters in
(DCNT) matches the value set, the
total
contact of the counter will be ON.
C200, C204, C208, C212,
C216, and C220 (6 32-bit
high-speed counters)
Input contact of C200: X0/X1
Input contact of C204: X2/X3
Input contact of C208: X4/X5
6 counters Input contact of C212: X6/X7
in total
Input contact of C216:
X10+/X10-/X11+/X11Input contact of C220:
X12+/X12-/X13+/X13-
C Counter
32-bit
high-speed
counter
Characteristics of counters:
Item
Type
Direction
Setting value
Specification of a
setting value
Change of the
present value
Output contact
16-bit counter
General counter
Counting up
0~32,767
Constant preceded by K, or value stored in a
data register
If the present value matches the setting
value, the counter will stop counting.
If the present value matches the setting
value, the output contact will be ON.
DVP-10PM Application Manual
32-bit counter
General counter
High-speed counter
Counting up/down
-2,147,483,648~+2,147,483,647
Constant preceded by K, or value stored in two
consecutive data registers
Even if the present value matches the setting
value, the counter will keep counting.
Counting up: If the present value matches the
setting value, the output contact will be ON.
Counting down: If the present value matches the
setting value, the output contact will be reset to
OFF.
3-9
3 Devices
Item
Resetting of a
contact
16-bit counter
32-bit counter
If the instruction RST is executed, the present value will becomes zero, and the contact will be
reset to OFF.
If the present value
After the scan of a
After the scan of a program is complete, the
matches the setting
Actions of contacts
program is complete,
contacts will act.
value, the contact will
the contacts will act.
be ON.
Functions of counters:
If the input signal of a counter is turned from OFF to ON, and the present value of the counter matches the
value set, the output coil of the counter will be ON. A setting value can be a constant preceded by K, or the
value stored in a data register.
16-bit counter:
1. The setting value of a 16-bit counter must be in the range of K0 to K32,767. (K0 is equal to K1. If the
setting value of a counter is K0 or K1, the output contact of the counter will be ON after the counter
counts for the first time.)
2. If a power cut occurs when a general counter in a DVP-20PM series motion controller counts, the
present value of the counter will be cleared. If a power cut occurs when a latching counter counts, the
present value of the counter and the state of the contact of the counter will be retained, and the
latching counter will not continue counting until power is restored.
3. If users move a value greater than the setting value of C0 to C0 by means of the instruction MOV, the
contact C0 will be ON, and the present value of the counter will become the setting value next time X1
is turned from OFF to ON.
4. The setting value of a counter can be a constant preceded by K, or the value stored in a data register.
(The special data registers D1000~D2999 can not be used.)
5. If the setting value of a counter is a value preceded by K, the setting value can only be a positive
value. If the setting value of a counter is the value stored in a data register, the setting value can be a
positive value or a negative value. If a counter counts up from the present value 32,767, the next
value following 32,767 will be -32,768.
Example:
LD
X0
X0
RST
C0
LD
X1
CNT
C0
LD
C0
RST
C0
CNT
C0
X1
K5
K5
C0
Y0
OUT Y0
1. If X0 is ON, the instruction RST will be executed, the present value of C0 will become zero, and the
output contact will be reset to OFF.
2. If X01 is turned from OFF to ON, the present value of the counter will increase by one.
3. If the present value of C0 matches the setting value K5, the contact C0 will be ON (Present value of
C0=Setting value=K5). K5 will be retained even if X1 is turned from OFF to ON again.
X0
X1
5
4
Pres en t v alue of C0
3
S etti ng val ue
2
1
0
0
Y0 , C0 con tac t
3-10
DVP-10PM Application Manual
3 Devices
32-bit up/down counter:
1. The setting value of a 32-bit general up/down counter must be in the range of K-2,147,483,648 to
K2,147,483,647. The states of the special auxiliary relays M1208~M1255 determine whether the 32-bit
general up/down counters C220~C255 count up or count down. For example, C208 will count up if
M1208 is OFF, and C208 will count down if M1208 is ON.
2. The setting value of a 32-bit up/down counter can be a constant preceded by K, or the value stored in
two consecutive data registers. (The special data registers D1000~D2999 can not be used.) A setting
value can be a positive value, or a negative value.
3. If a power cut occurs when a general counter in a DVP-10PM series motion controller counts, the
present value of the counter will be cleared. If a power cut occurs when a latching counter counts, the
present value of the counter and the state of the contact of the counter will be retained, and the latching
counter will not continue counting until power is restored.
4. If a counter counts up from the present value 2,147,483,647, the next value following 2,147,483,647
will be -2,147,483,648. If a counter counts down from the present value -2,147,483,648, the next value
following -2,147,483,648 will be 2,147,483,647.
Example:
LD
X10
X10
1.
2.
3.
4.
5.
OUT
M1255
LD
X11
RST
C255
LD
X12
DCNT
C255
LD
C255
M1255
X11
RST
C255
DCNT
C255
X12
K-5
K-5
C255
Y0
OUT
Y0
M1255 is driven by X10. The state of M1255 determines whether C255 counts up or counts down.
If X11 is turned form OFF to ON, the instruction RST will be executed, the present value of C255 will
become 0, and the contact will be OFF.
If X12 is turned form OFF to ON, the present value of the counter will increase by one or decrease by
one.
If the present value of the counter C255 increases from K-6 to K-5, the contact C255 will be turned form
OFF to ON. If the present value of the counter C255 decreases from K-5 to K-6, the contact C255 will
be turned from ON to OFF.
If users move a value greater than the setting value of C255 to C255 by means of the instruction MOV,
the contact C255 will be ON, and the present value of the counter will become the setting value next
time X11 is turned from OFF to ON.
X1 0
In crea sing
Decreas ing
In crea sing
X11
X1 2
5
4
3
2
C208 cou nts.
1
Presen t value 0
4
3
2
1
0
0
-1
-2
-3
-3
-4
The o utpu t
conta ct is ON.
-4
-5
-5
-6
-6
-7
-7
-8
Y0 ,C208
Cont ac t
DVP-10PM Application Manual
3-11
3 Devices
32-bit high-speed counter:
 DVP-10PM series motion controller (C200, C204, C208, C212, C216, and C220)
1. The setting value of a 32-bit high-speed counter must be in the range of K-2,147,483,648 to
K2,147,483,647.
2. Mode of counting:
Mode of counting
Counter
Device
Resetting
a counter
Setting value
External
reset
terminal
External input terminal
Mode of counting
M1203
X10
X0, X1, and S/S
0: U/D*
1: P/D*
2: A/B* (One time
C204
K1M1204
M1207
X11
X2, X3, and S/S
the frequency
of A/B-phase
inputs)
C208
K1M1208
M1211
X12
X4, X5, and S/S
3: 4A/B (Four
times the
C212
K1M1212
M1215
X13
X6, X7, and S/S
frequency of
A/B-phase
inputs)
C216
K1M1216
M1219
X0
X10+, X10-, X11+, and X11Mode of
measuring time
X12+, X12-, X13+, and
5:
General mode
M1223
X1
C220
K1M1220
X136: Cyclic mode
Note: U/D: Counting up/Counting down; P/D: Pulse/Direction; A/B: A phase/B phase
C200
K1M1200
 C200: Users can select a mode of counting by setting M1200 and M1201. Input signals are
controlled by X0 and X1. If M1203 is ON, the function of resetting C200 will be enabled.
Resetting signals are controlled by X10.
Pulse
Cou nting pulses
U
A
X0
Present value
C200
Direction
X1
Cou nting pulses
D
B
Us ers can s elect a mode of c ounting
by setti ng M1200 and M1201.
M1203=1, X10
Reset ti ng C200
 C204: Users can select a mode of counting by setting M1204 and M1205. Input signals are
controlled by X2 and X3. If M1207 is ON, the function of resetting C204 will be enabled.
Resetting signals are controlled by X11.
Pulse
X2
Cou nting pulse s
U
A
Present value
C204
Direction
X3
Cou nting pulse s
D
B
Us ers can s elect a mode of c ounting
by setti ng M1204 and M1205.
M1207=1, X11
3-12
Resetti ng C204
DVP-10PM Application Manual
3 Devices
 C208: Users can select a mode of counting by setting M1208 and M1209. Input signals are
controlled by X4 and X5. If M1211 is ON, the function of resetting C208 will be enabled.
Resetting signals are controlled by X12.
Pulse
X4
Cou nting pulse s
U
A
Present value
C208
Direction
X5
Cou nting pulse s
D
B
Us ers can s el ect a mode of c ounting
by set ti ng M1208 and M1209.
M1211=1, X12
Reset ti ng C208
 C212: Users can select a mode of counting by setting M1212 and M1213. Input signals are
controlled by X6 and X7. If M1215 is ON, the function of resetting C212 will be enabled.
Resetting signals are controlled by X13.
Pulse
Cou nting pulses
U
A
X6
Present value
C212
Direction
X7
Cou nting pulses
D
B
Us ers can s elect a mode of c ounting
by setti ng M1212 and M1213.
M1215=1, X13
Resetti ng C212
 C216: Users can select a mode of counting by setting M1216 and M1217. Input signals are
controlled by X10 and X11. If M1219 is ON, the function of resetting C216 will be enabled.
Resetting signals are controlled by X0.
Pulse
Cou nting pulse s
U
A
X10
Present value
C216
Direction
Cou nting pulse s
D
B
X11
Us ers can s elect a mode of c ounting
by setti ng M1216 and M1217.
Resetti ng C216
M1219=1, X0
DVP-10PM Application Manual
3-13
3 Devices
 C220: Users can select a mode of counting by setting M1221 and M1220. Input signals are
controlled by X12 and X13. If M1223 is ON, the function of resetting C220 will be enabled.
Resetting signals are controlled by X1.
Pulse
Cou nting pulses
U
A
X12
Present value
C220
Direction
X13
Cou nting pulses
D
B
Us ers can s elect a mode of counting
by setti ng M1220 and M1221.
M1223=1, X1
Resetti ng C220
3. The setting value of a 32-bit high-speed counter can be a constant preceded by K, or the value
stored in two consecutive data registers. (The special data registers D1000~D2999 can not be
used.) A setting value can be a positive value, or a negative value.
4. If a power cut occurs when a general counter in a DVP-10PM series motion controller counts, the
present value of the counter will be cleared. If a power cut occurs when a latching counter counts,
the present value of the counter and the state of the contact of the counter will be retained, and the
latching counter will not continue counting until power is restored.
5. If a counter counts up from the present value 2,147,483,647, the next value following
2,147,483,647 will be -2,147,483,648. If a counter counts down from the present value
-2,147,483,648, the next value following -2,147,483,648 will be 2,147,483,647.
3.8 Registers
Registers are classified according to their characters. There are four types of registers.
1. General register:
If the STOP/RUN switch on a DVP-10PM series motion controller is turned
from the STOP position to the RUN position, or a DVP-10PM series motion
controller is disconnected, the values in the general registers will become 0. If
M1033 in a DVP-10PM series motion controller is turned ON, the values in
the general registers will be retained after the STOP/RUN switch on the
DVP-10PM series motion controller is turned from the RUN position to the
STOP position, and will become 0 after the module is disconnected.
2. Latching register:
If a module is disconnected, the values in the latching registers will be
retained.
If users want to clear the value in a latching register, they can use the
instruction RST or ZRST.
3. Special data register: Every special data register has its definition and purposes. System states,
error messages, and states monitored are stored in special data registers.
Please refer to section 3.10 and section 3.11 for more information about
special auxiliary relays and special data registers.
4. Index register (V)/(Z): V devices are 16-bit registers, and Z devices are 32-bit registers. There are 8
V devices (V0~V7), and 8 Z devices (Z0~Z7) in a DVP-10PM series motion
controller.
3-14
DVP-10PM Application Manual
3 Devices
3.8.1 Data Registers
The value in a data register is a 16-bit value. The highest bit in a 16-bit data register represents an
algebraic sign. The value stored in a data register must be in the range of -32,768 to +32,767. Two 16-bit
data registers can be combined into one 32-bit data register (D+1, D). The highest bit in a 32-bit data
register represents an algebraic sign. The value stored in a 32-bit data register must be in the range of
-2,147,483,648 to +2,147,483,647.
D0~D199 (200 general data registers in total)
Users can change them to latching devices by setting
parameters.
D200~D999 and D3000~D9999 (7,800 latching data
register in total)
Latching data register
Users can change them to non-latching devices by
setting parameters.
General data register
Data register
(D)
Special data register
10,000 data
registers in
total
D1000~D2999 (2,000 special data registers in total)
Some of them are latching devices.
3.8.2 Index Registers
Index register (V)/(Z)
V0~V7
Z0~Z7
16 index
registers in total
V devices are 16-bit registers. Data can be freely written into a
V device, and data can be freely read from a V device. If a V
device is used as a general register, it can only be used in a
16-bit instruction.
Z devices are 32-bit registers. If a Z device is used as a general
register, it can only be used in a 32-bit instruction.
16 bits
V0
32 bits
Z0
X0
MOV
K8
V0
DMOV
K14
Z1
MOV
D0@V0
D2@Z1
DMOV
D3@Z1
D4@V0
If X0 is ON, the value in V0 will be 8, and the value in Z1 will be
14, the value in D8 will be moved to D16, and the value in D17
will be moved to D12.
If a V device or a Z device is an index register used to modify
an operand, the V device or the Z device can be used in a
16-bit instruction and a 32-bit instruction.
Index registers are like general operands in that they can be used in movement instructions and
comparison instructions. They can be used to modify word devices (KnX/KnY/KnM/KnS/T/C/D devices)
and bit devices (X/Y/M/S devices).
There are 8 V devices (V0~V7), and 8 Z devices (Z0~Z7) in a DVP-10PM series motion controller.
※Constants and some instructions do not support the use of index registers. Please refer to section 5.4 for
more information about using index registers to modify operands.
※To prevent error from occurring, if a V device or a Z device is used to modify an operand, the effective
address which is formed can not be in the range of D1000 to D2999, and can not be in the range of
M1000 to M2999.
DVP-10PM Application Manual
3-15
3 Devices
3.9 Pointers
Pointer
N Used with a master control loop
P Used with CJ, CJN, or JMP
N0~N7 (8 poniters)
P0~P255 (256 pointers)
Used with a master control loop
Used with CJ, CJN, or JMP
Pointer (P): A pointer is used with API 00 CJ, API 256 CJN, or API 257 JMP. Please refer to chapter 5 for
more information about the use of CJ/CJN/JMP.
 Conditional jump (CJ):
 If X0 is ON, the execution of the program will
P**
X0
jump from address 0 to address N, and the
0
CJ
P1
part of the program between address 0 and
address N will not be executed.
X1
 If X0 is OFF, the execution of the program
Y1
starts from address 0, and the instruction CJ
will not be executed.
N
P1
X2
Y2
3.10 Special Auxiliary Relays and Special Data Registers
Special auxiliary relays (special M devices) and special data registers (special D devices) are shown in the
tables below. Some device numbers in the tables are marked with *. Users can refer to section 3.11 for
more information. If the attribute of a device is “R”, the users can only read data from the device. If the
attribute of a device is “R/W”, the users can read data from the device, and write data into the device. In
addition, “-” indicates that the state of a special auxiliary relay is unchanged, or the value in a special data
register is unchanged. “#” indicates that a special auxiliary relay or a special data register in a DVP-10PM
series motion controller is set according to the state of the DVP-10PM series motion controller. The users
can read a setting value, and refer to the manual for more information.
Special
M
device
Function
If the motion controller runs, M1000 will be a normally-open
M1000* contact (Form A contact). When the motion controller runs,
M1000 is ON.
If the motion controller runs, M1001 will be a normally-closed
M1001* contact (Form B contact). When the motion controller runs,
M1001 is OFF.
A positive-going pulse is generated at the time when the
M1002* motion controller runs. The width of the pulse is equal to the
scan cycle.
A negative-going pulse is generated at the time when the
M1003* motion controller runs. The width of the pulse is equal to the
scan cycle.
M1008 The watchdog timer is ON.
M1009 The low voltage signal has ever occurred.
10 millisecond clock pulse (The pulse is ON for 5
M1011
milliseconds, and is OFF for 5 milliseconds.)
100 millisecond clock pulse (The pulse is ON for 50
M1012
milliseconds, and OFF for 50 milliseconds.)
1 second clock pulse (The pulse is ON for 0.5 seconds, and
M1013
OFF for 0.5 seconds.)
1 minute clock pulse (The pulse is ON for 30 seconds, and
M1014
OFF for 30 seconds.)
M1020 Zero flag (for the instructions SFRD and SFWR)
M1022 Carry flag (for the instructions SFWR, RCR, and RCL)
3-16
Off STOP RUN



Attribute Latching Default Page
On RUN STOP
Off
On
Off
R
No
Off
3-30
On
Off
On
R
No
On
3-30
Off
On
Off
R
No
Off
3-30
On
Off
On
R
No
On
3-30
Off
Off
Off
-
-
R
R
No
No
Off
Off
-
Off
-
-
R
No
Off
-
Off
-
-
R
No
Off
-
Off
-
-
R
No
Off
-
Off
-
-
R
No
Off
-
Off
Off
-
-
R
R
No
No
Off
Off
-
DVP-10PM Application Manual
3 Devices
Special
M
device
M1025
M1026
M1029
M1031
M1032
M1033
M1034
M1035
M1039*
M1048
M1049
M1072
M1077
M1087
M1120*
M1121
M1122
M1123
M1124
M1125
M1127
M1128
M1129
M1136
M1138*
M1139*
M1140
M1141
M1143*
M1161
M1162
M1168
M1200
M1201
M1203
Function
Incorrect request for communication (If a PC or an HMI is
connected to a DVP-10PM series motion controller, and the
DVP-10PM series motion controller receives illegal request
for communication during data transmission, M1025 will be
set to ON, and an error code will be stored in D1025.)
Selecting a RAMP mode
The sending of pulses through CH0 (Y0, Y1) is complete.
All the non-latching devices are cleared.
All the latching devices are cleared.
Data is retained when the DVP-10PM series motion controller
does not run.
All the outputs are disabled.
Using STOP0/START0 as external I/O terminals.
The scan time for the program is fixed.
Status of the alarm
Monitoring the alarm
The DVP-10PM series motion controller is made to run.
(Communication)
The battery voltage is low, or malfunctions, or there is no
battery.
The low voltage signal occurs.
The setting of the communication through COM2 (RS-485
port) is retained. After M1120 is set to ON, changing the value
in D1120 will be invalid.
The transmission of the RS-485 data is ready.
Request for sending the data
The reception of the data is complete.
The reception of the data is ready.
The reception of the data is reset.
The sending/reception of the data is complete.
The data is being sent/received.
Reception timeout
The setting of the communication through COM3
(communication card) is retained.
The setting of the communication through COM1 (RS-232
port) is retained. After M1138 is set to ON, changing the value
in D1036 will be invalid.
Selecting an ASCII mode or an RTU mode when COM1
(RS-232 port) is in a slave mode. (OFF: ASCII mode; ON:
RTU mode)
The data that users receive by means of MODRD/MODWR is
incorrect.
The values of parameters of MODRD/MODWR are incorrect.
Selecting an ASCII mode or an RTU mode when COM2
(RS-485 port) is in a slave mode. (OFF: ASCII mode; ON:
RTU mode)
Selecting an ASCII mode or an RTU mode when COM2
(RS-485 port) is in a master mode. (M1143 is used with
MODRD/MODWR.) (OFF: ASCII mode; ON: RTU mode)
8-bit mode (ON: 8-bit mode; OFF: 16-bit mode)
Using decimal integers or binary floating-point values when
SCLP is executed.
ON: Binary floating-point values
OFF: Decimal integers
SMOV: Mode of operation
C200: Selecting a mode of counting
C200: Selecting a mode of counting
Resetting C200
DVP-10PM Application Manual
Off STOP RUN



Attribute Latching Default Page
On RUN STOP
Off
Off
-
R
No
Off
-
Off
Off
Off
Off
-
-
R/W
R
R/W
R/W
No
No
No
No
Off
Off
Off
Off
-
Off
-
-
R/W
No
Off
-
Off
Off
Off
Off
Off
Off
-
Off
-
R/W
R/W
R/W
R
R/W
No
No
No
No
No
Off
Off
Off
Off
Off
3-34
-
Off
On
Off
R/W
No
Off
-
Off
-
-
R/W
No
Off
-
Off
-
-
R/W
No
Off
-
Off
Off
-
R/W
No
Off
3-31
Off
Off
Off
Off
Off
Off
Off
Off
On
Off
Off
Off
Off
Off
Off
Off
-
R
R/W
R/W
R
R/W
R/W
R
R/W
No
No
No
No
No
No
No
No
Off
Off
Off
Off
Off
Off
Off
Off
-
Off
-
-
R
No
Off
3-31
Off
-
-
R/W
No
Off
3-31
Off
-
-
R/W
No
Off
3-31
Off
Off
-
R
No
Off
-
Off
Off
-
R
No
Off
-
Off
-
-
R/W
No
Off
3-31
Off
-
-
R/W
No
Off
-
Off
-
-
R/W
No
Off
-
Off
Off
Off
Off
-
-
R/W
R/W
R/W
R/W
No
No
No
No
Off
Off
Off
Off
-
3-17
3 Devices
Special
M
device
M1204
M1205
M1207
M1208
M1209
M1210
M1211
M1212
M1213
M1214
M1215
M1216
M1217
M1218
M1219
M1220
M1221
M1222
M1223
M1224
M1225
M1226
M1227
M1228
M1229
M1230
M1231
M1232
M1233
M1234
M1235
M1236
M1237
M1238
M1239
M1240
M1241
M1242
M1243
M1244
M1245
M1246
M1247
M1248
M1249
M1250
M1251
M1252
M1253
M1254
M1255
M1303
M1304*
M1744*
3-18
Function
C204: Selecting a mode of counting
C204: Selecting a mode of counting
Resetting C204
C208: Selecting a mode of counting (On: Counting down)
C209: Selecting a mode of counting (On: Counting down)
C210: Selecting a mode of counting (On: Counting down)
C211: Selecting a mode of counting (On: Counting down)
C212: Selecting a mode of counting (On: Counting down)
C213: Selecting a mode of counting (On: Counting down)
C214: Selecting a mode of counting (On: Counting down)
C215: Selecting a mode of counting (On: Counting down)
C216: Selecting a mode of counting (On: Counting down)
C217: Selecting a mode of counting (On: Counting down)
C218: Selecting a mode of counting (On: Counting down)
C219: Selecting a mode of counting (On: Counting down)
C220: Selecting a mode of counting (On: Counting down)
C221: Selecting a mode of counting (On: Counting down)
C222: Selecting a mode of counting (On: Counting down)
C223: Selecting a mode of counting (On: Counting down)
C224: Selecting a mode of counting (On: Counting down)
C225: Selecting a mode of counting (On: Counting down)
C226: Selecting a mode of counting (On: Counting down)
C227: Selecting a mode of counting (On: Counting down)
C228: Selecting a mode of counting (On: Counting down)
C229: Selecting a mode of counting (On: Counting down)
C230: Selecting a mode of counting (On: Counting down)
C231: Selecting a mode of counting (On: Counting down)
C232: Selecting a mode of counting (On: Counting down)
C233: Selecting a mode of counting (On: Counting down)
C234: Selecting a mode of counting (On: Counting down)
C235: Selecting a mode of counting (On: Counting down)
C236: Selecting a mode of counting (On: Counting down)
C237: Selecting a mode of counting (On: Counting down)
C238: Selecting a mode of counting (On: Counting down)
C239: Selecting a mode of counting (On: Counting down)
C240: Selecting a mode of counting (On: Counting down)
C241: Selecting a mode of counting (On: Counting down)
C242: Selecting a mode of counting (On: Counting down)
C243: Selecting a mode of counting (On: Counting down)
C244: Selecting a mode of counting (On: Counting down)
C245: Selecting a mode of counting (On: Counting down)
C246: Selecting a mode of counting (On: Counting down)
C247: Selecting a mode of counting (On: Counting down)
C248: Selecting a mode of counting (On: Counting down)
C249: Selecting a mode of counting (On: Counting down)
C250: Selecting a mode of counting (On: Counting down)
C251: Selecting a mode of counting (On: Counting down)
C252: Selecting a mode of counting (On: Counting down)
C253: Selecting a mode of counting (On: Counting down)
C254: Selecting a mode of counting (On: Counting down)
C255: Selecting a mode of counting (On: Counting down)
Interchanging high bits with low bits when XCH is executed
The input terminals can be set to ON or OFF.
Resetting the M-code in the Ox motion subroutine
Off STOP RUN



Attribute Latching Default Page
On RUN STOP
Off
R/W
No
Off
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3-37
Off Off
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Off 3-38
DVP-10PM Application Manual
3 Devices
Special
M
device
M1745
M1760
M1792
M1793*
M1794*
M1795
M1796
M1808
M1809
M1810
M1811
M1825
M1872
M1873*
M1920
M1952
M1953*
M1957
M1968
M1969
M1970
M1971
M1985
M2032
M2033*
M2065
M2112
M2113*
M2145
M2192
M2193*
M2225
M2272
M2273*
Function
Disabling the X-axis from returning home in the Ox motion
subroutine
Using a radian or a degree in the Ox motion subroutine
The X-axis is ready.
X-axis motion error (M1793 is reset at the time when the
X-axis operates.)
If an M code in an Ox motion subroutine is executed, M1794
will be ON. (M1794 is reset to OFF at the time when the Ox
motion subroutine is executed.)
If M0 in an Ox motion subroutine is executed, M1795 will be
ON. (M1795 is reset to OFF at the time when the Ox motion
subroutine is executed.)
If M2 in an Ox motion subroutine is executed, M1796 will be
ON. (M1796 is reset to OFF at the time when the Ox motion
subroutine is executed.)
Zero flag in the Ox motion subroutine
Borrow flag in the Ox motion subroutine
Carry flag in the Ox motion subroutine
An error occurs in a floating-point operation in the Ox motion
subroutine.
Disabling the Y-axis from returning home
The Y-axis is ready.
Y-axis motion error (M1873 is reset at the time when the
Y-axis operates.)
Using a radian or a degree in O100
O100 is ready.
An error occurs in O100.
Status of the STOP/RUN switch (Automatic/Manual switch)
Zero flag in O100
Borrow flag in O100
Carry flag in O100
An error occurs in a floating-point operation in O100.
Disabling the Z-axis from returning home
The Z-axis is ready.
Z-axis motion error (M2033 is reset at the time when the
Z-axis operates.)
Disabling the A-axis from returning home
The A-axis is ready.
A-axis motion error (M2113 is reset at the time when the
A-axis operates.)
Disabling the B-axis from returning home
The B-axis is ready.
B-axis motion error (M2193 is reset at the time when the
B-axis operates.)
Disabling the C-axis from returning home
The C-axis is ready.
C-axis motion error (M2273 is reset at the time when the
X-axis operates.)
DVP-10PM Application Manual
Off STOP RUN



Attribute Latching Default Page
On RUN STOP
Off
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-
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On
On
On
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Off
On
3-38
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Off
3-39
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On
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3-19
3 Devices
Special
D
device
Function
D1000* Watchdog timer (Unit: ms)
D1002 Size of the program
D1003 Checksum of the program
Firmware version of the DVP-10PM series motion controller
D1005
(factory setting)
D1008 Step address at which the watchdog timer is ON
D1010 Present scan time (Unit: 1 millisecond)
D1011 Minimum scan time (Unit: 1 millisecond)
D1012 Maximum scan time (Unit: 1 millisecond)
D1020 Filtering the inputs X0~X7 (Unit: ms)
D1025 Code for a communication request error
D1036* Communication protocol of COM1
Delay which is allowed when an RS-485 port on the
D1038* DVP-10PM series motion controller functions as a slave
station (Setting range: 0~3000; Unit: 10 ms)
D1039* Fixed scan time (Unit: ms)
D1050 Modbus communication data is processed.
The DVP-10PM series motion controller automatically
↓
converts the ASCII data in D1070~D1085 to hexadecimal
D1055 values.
D1056 Present value of CH0 in the function card 2AD
D1057 Present value of CH1 in the function card 2AD
Modbus communication data is processed.
D1070 A DVP-10PM series motion controller has an RS-485
communication instruction. After a receptor receives the
↓
command sent by an RS-485 communication instruction, it will
D1085 reply with a message which will be stored in D1070~D1085.
Users can view the message by D1070~D1085.
Modbus communication data is processed.
D1089 A DVP-10PM series motion controller has an RS-485
communication instruction. The command sent by the RS-485
↓
communication instruction is stored in D1089~D1099. Users
D1099 can check whether the command is correct by viewing the
values in D1089~D1099.
D1109 Communication protocol of COM3 (communication card)
Number by which the sum of several values of CH0 in the
D1110 function card 2AD is divided
Number by which the sum of several values of CH1 in the
D1111
function card 2AD is divided
D1116 Present value of CH0 in the function card 2DA
D1117 Present value of CH1 in the function card 2DA
D1120* Communication protocol of COM2 (RS-485 port)
Communication address of the DVP-10PM series motion
D1121
controller
D1122 Number characters which remain to be sent
D1123 Number of characters which remain to be received
D1124 Start-of-text character (STX)
D1125 First terminator (END High)
D1126 Second terminator (END Low)
D1129 Communication timeout (Unit: ms)
Error code that a slave station sends by means of Modbus
D1130 when the RS-485 port on the DVP-10PM series motion
controller functions as a master station
D1140* Number of right-side modules (8 right-side modules at most)
D1142* Number of X devices in a digital module
D1143* Number of Y devices in a digital module
ID of a function card (0: No card inserted; 3: COM3; 8: 2AD; 9:
D1149
2DA)
3-20
Off STOP RUN


 Attribute Latching Default Page
On RUN STOP
200
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No
200 3-30
65535
R
No
65535
R
Yes
0
#
-
-
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10
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H’86
0
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-
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0
-
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-
-
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R/W
R/W
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No
No
0
0
H’86
3-31
-
-
-
R/W
Yes
1
-
0
0
0
0
-
R
R
No
No
0
0
H’3A
H’0D
H’0A
-
-
R/W
R/W
R/W
No
No
No
H’3A
H’0D
H’0A
0
-
-
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0
-
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-
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-
DVP-10PM Application Manual
3 Devices
Special
D
device
D1200*
D1201*
D1202*
D1203*
D1204*
D1205*
D1206*
D1207*
D1208*
D1209*
D1210*
D1211*
D1313*
D1314*
D1315*
D1316*
D1317*
D1318*
D1319*
D1320*
D1321*
D1322*
D1323*
D1324*
D1325*
D1326*
D1327*
D1400
D1401
Function
Starting latching auxiliary relay address
Terminal latching auxiliary relay address
Starting latching timer address
Terminal latching timer address
Starting latching 16-bit counter address
Terminal latching 16-bit counter address
Starting latching 32-bit counter address
Terminal latching 32-bit counter address
Starting latching stepping relay address
Terminal latching stepping relay address
Starting latching data register address
Terminal latching data register address
Value of the second in the real-time clock (RTC): 00~59
Value of the minute in the real-time clock (RTC): 00~59
Value of the hour in the real-time clock (RTC): 00~23
Value of the day in the real-time clock (RTC): 1~31
Value of the month in the real-time clock (RTC): 01~12
Value of the week in the real-time clock (RTC): 1~7
Value of the year in the real-time clock (RTC): 00~99 (A.D.)
ID of the first right-side module
ID of the second right-side module
ID of the third right-side module
ID of the fourth right-side module
ID of the fifth right-side module
ID of the sixth right-side module
ID of the seventh right-side module
ID of the eighth right-side module
Enabling the interrupt
Cycle of the time interrupt (Unit: ms)
Data block used by FROM/TO
D1500
It corresponds to CR#0.
D1501
Data block used by FROM/TO
↓
They correspond to CR#1~CR#199.
D1699
D1700 Ox motion subroutine which is executed
D1702 Step address which is executed in the Ox motion subroutine
D1703* M-code which is executed in the Ox motion subroutine
D1704 Dwell duration of the Ox motion subroutine which is set
D1705 Present dwell duration of the Ox motion subroutine
Number of times the instruction RPT in the Ox motion
D1706
subroutine is executed
Number of times the instruction RPT in the Ox motion
D1707
subroutine has been executed
D1736 Dwell duration of O100 which is set
D1737 Present dwell duration of O100
D1738 Number of times the instruction RPT in O100 is executed
Number of times the instruction RPT in O100 has been
D1739
executed
D1799* Polarities of the input terminals
D1800* States of the input terminals
D1802* O100 error code
D1803* Step address in O100 at which an error occurs
D1806 Filter coefficient for the input terminals
D1816* Setting the parameters of the X-axis
DVP-10PM Application Manual
Off

On
0
0
0
0
0
0
0
0
0
0
STOP RUN

 Attribute Latching Default
RUN STOP
R/W
Yes
500
R/W
Yes
999
R/W
Yes
-1
R/W
Yes
-1
R/W
Yes
100
R/W
Yes
199
R/W
Yes
220
R/W
Yes
255
R/W
Yes
500
R/W
Yes
1023
R/W
Yes
200
R/W
Yes
9999
R/W
Yes
0
R/W
Yes
0
R/W
Yes
0
R/W
Yes
1
R/W
Yes
1
R/W
Yes
2/5
R/W
Yes
8/10
R
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Page
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-
H6260
-
-
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H6260
-
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-
-
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0
-
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R/W
No
No
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No
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Yes
0
0
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0
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0
3-39
3-39
3-40
3-40
3-40
3-40
3-21
3 Devices
Special
D
device
D1818
D1819
D1820
D1821
D1822
D1823
D1824
D1825
D1826
D1827
D1828
D1829
D1830
D1831
D1832*
D1833*
D1834*
D1835
D1836
D1837
D1838
D1839
D1840
D1841
D1842
D1843
D1844
D1845
D1846*
D1847*
D1848
D1849
D1850
D1851
D1852
D1853
D1854
D1855
D1856*
D1857*
D1858
D1859
3-22
Function
Off

On
Number of pulses it takes for the motor of the X-axis to rotate
once (Low word)
Number of pulses it takes for the motor of the X-axis to rotate
once (High word)
Distance generated after the motor of the X-axis rotate once
(Low word)
Distance generated after the motor of the X-axis rotate once
(High word)
Maximum speed (VMAX) at which the X-axis rotates (Low word)
Maximum speed (VMAX) at which the X-axis rotates (High
word)
Start-up speed (VBIAS) at which the X-axis rotates (Low word)
Start-up speed (VBIAS) at which the X-axis rotates (High word)
JOG speed (VJOG) at which the X-axis rotates (Low word)
JOG speed (VJOG) at which the X-axis rotates (High word)
Speed (VRT) at which the X-axis returns home (Low word)
Speed (VRT) at which the X-axis returns home (High word)
Speed (VCR) to which the speed of the X-axis decreases when
the axis returns home (Low word)
Speed (VCR) to which the speed of the X-axis decreases when
the axis returns home (High word)
Number of PG0 pulses for the X-axis
Supplementary pulses for the X-axis
Home position of the X-axis (Low word)
Home position of the X-axis (High word)
Time (TACC) it takes for the X-axis to accelerate
Time (TDEC) it takes for the X-axis to decelerate
Target position of the X-axis (P (I)) (Low word)
0
Pulse width for the X-axis (Low word)
0
Target position of the X-axis (P (I)) (High word)
0
Pulse width for the X-axis (High word)
0
Speed at which the X-axis rotates (V (I)) (Low word)
1000
Speed at which the X-axis rotates (V (I)) (High word)
1000
Target position of the X-axis (P (II)) (Low word)
0
Output period for the X-axis (Low word)
0
Target position of the X-axis (P (II)) (High word)
0
Output period for the X-axis (High word)
0
Speed at which the X-axis rotates (V (II)) (Low word)
2000
Speed at which the X-axis rotates (V (II)) (High word)
Operation command for the X-axis
0
X-axis’s mode of operation
0
Present command position of the X-axis (Pulse) (Low word)
0
Position of the slave axis (Low word)
Present command position of the X-axis (Pulse) (High word)
0
Position of the slave axis (High word)
Present command speed of the X-axis (PPS) (Low word)
0
Present command speed of the X-axis (PPS) (High word)
Present command position of the X-axis (Unit) (Low word)
0
Present command position of the X-axis (Unit) (High word)
Present command speed of the X-axis (Unit) (Low word)
0
Present command speed of the X-axis (Unit) (High word)
State of the X-axis
0
X-axis error code
0
Electronic gear ratio of the X-axis (Numerator)
Electronic gear ratio of the X-axis (Denominator)
-
STOP RUN

 Attribute Latching Default Page
RUN STOP
-
-
R/W
Yes
2000
-
-
-
R/W
Yes
1000
-
-
-
R/W
Yes
500K
-
-
-
R/W
Yes
0
-
-
-
R/W
Yes
5000
-
-
-
R/W
Yes
50K
-
-
-
R/W
Yes
1000
-
-
-
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Yes
Yes
Yes
Yes
Yes
Yes
No
No
No
No
No
No
No
No
No
No
0
0
0
0
500
500
0
0
0
0
1000
1000
0
0
0
0
-
-
-
R/W
No
2000
-
-
0
-
R/W
R/W
No
No
0
0
3-42
3-42
-
-
R/W
No
0
-
-
-
R/W
No
0
-
0
0
R/W
No
0
-
-
-
R/W
No
0
-
0
0
R/W
No
0
-
-
-
R
R
R/W
R/W
No
No
Yes
Yes
0
0
1
1
3-43
3-39
-
DVP-10PM Application Manual
3 Devices
Special
D
device
Function
Frequency of pulses generated by the manual pulse generator
D1860 for the X-axis (Low word)
Frequency of pulses sent by the master axis (Low word)
Frequency of pulses generated by the manual pulse generator
D1861 for the X-axis (High word)
Frequency of pulses sent by the master axis (High word)
Number of pulses generated by the manual pulse generator
D1862 for the X-axis (Low word)
Position of the master axis
Number of pulses generated by the manual pulse generator
D1863 for the X-axis (High word)
Position of the master axis
D1864* Response speed of the manual pulse generator for the X-axis
Mode of stopping Ox0~Ox99 (K1: The execution of Ox0~Ox99
will resume next time Ox0~Ox99 are started. K2: The next
D1865
instruction will be executed next time Ox0~Ox99 are started.
Others: Ox0~Ox99 are executed again.)
D1866 Electrical zero of the X-axis (Low word)
D1867 Electrical zero of the X-axis (High word)
D1868* Setting an Ox motion subroutine number
Step address in the Ox motion subroutine at which an error
D1869
occurs
Enabling a Y device when the Ox motion subroutine is ready
D1872
(High byte: K1; Low byte: Starting Y device address)
Enabling a Y device when an M-code in the Ox motion
D1873 subroutine is executed
(High byte: K1; Low byte: Starting Y device address)
D1874 Using an X device to reset the M-code
D1875* Starting the X-axis manually (ZRN, MPG, JOG-, JOG+)
D1896* Setting the parameters of the Y-axis
Number of pulses it takes for the motor of the Y-axis to rotate
D1898
once (Low word)
Number of pulses it takes for the motor of the Y-axis to rotate
D1899
once (High word)
Distance generated after the motor of the Y-axis rotate once
D1900
(Low word)
Distance generated after the motor of the Y-axis rotate once
D1901
(High word)
D1902 Maximum speed (VMAX) at which the Y-axis rotates (Low word)
Maximum speed (VMAX) at which the Y-axis rotates (High
D1903
word)
D1904 Start-up speed (VBIAS) at which the Y-axis rotates (Low word)
D1905 Start-up speed (VBIAS) at which the Y-axis rotates (High word)
D1906 JOG speed (VJOG) at which the Y-axis rotates (Low word)
D1907 JOG speed (VJOG) at which the Y-axis rotates (High word)
D1908 Speed (VRT) at which the Y-axis returns home (Low word)
D1909 Speed (VRT) at which the Y-axis returns home (High word)
Speed (VCR) to which the speed of the Y-axis decreases when
D1910
the axis returns home (Low word)
Speed (VCR) to which the speed of the Y-axis decreases when
D1911
the axis returns home (High word)
D1912 Number of PG0 pulses for the Y-axis
D1913 Supplementary pulses for the Y-axis
D1914 Home position of the Y-axis (Low word)
D1915 Home position of the Y-axis (High word)
D1916 Time (TACC) it takes for the Y-axis to accelerate
D1917 Time (TDEC) it takes for the Y-axis to decelerate
DVP-10PM Application Manual
Off

On
STOP RUN

 Attribute Latching Default Page
RUN STOP
0
0
-
R/W
No
0
-
0
0
-
R/W
No
0
-
0
-
-
R/W
No
0
-
0
-
-
R/W
No
0
-
-
-
-
R/W
Yes
5
-
-
-
-
R/W
Yes
0
-
0
0
-
R/W
R/W
R/W
Yes
Yes
Yes
0
0
0
3-34
0
-
-
R/W
No
0
-
0
-
-
R/W
No
0
-
-
-
-
R/W
Yes
0
-
0
-
-
-
R/W
R/W
R/W
No
Yes
Yes
0
0
0
3-40
-
-
-
R/W
Yes
2000
-
-
-
-
R/W
Yes
1000
-
-
-
-
R/W
Yes
500K
-
-
-
-
R/W
Yes
0
-
-
-
-
R/W
Yes
5000
-
-
-
-
R/W
Yes
50K
-
-
-
-
R/W
Yes
1000
-
-
-
-
R/W
R/W
Yes
Yes
0
0
-
-
-
-
R/W
Yes
0
-
-
-
-
R/W
R/W
Yes
Yes
500
500
-
3-23
3 Devices
Special
D
device
D1918
D1919
D1920
D1921
D1922
D1923
D1924
D1925
D1926*
D1927*
D1928
D1929
D1930
D1931
D1932
D1933
D1934
D1935
D1936*
D1937*
D1938
D1939
D1940
D1941
D1942
D1943
D1944
D1946
D1947
D1955*
D1976
D1978
D1979
D1980
D1981
D1982
D1983
D1984
D1985
D1986
D1987
3-24
Function
Off

On
0
0
0
0
Target position of the Y-axis (P (I)) (Low word)
Pulse width for the Y-axis (Low word)
Target position of the Y-axis (P (I)) (High word)
Pulse width for the Y-axis (High word)
Speed at which the Y-axis rotates (V (I)) (Low word)
1000
Speed at which the Y-axis rotates (V (I)) (High word)
Target position of the Y-axis (P (II)) (Low word)
0
Output period for the Y-axis (Low word)
0
Target position of the Y-axis (P (II)) (High word)
0
Output period for the Y-axis (High word)
0
Speed at which the Y-axis rotates (V (II)) (Low word)
2000
Speed at which the Y-axis rotates (V (II)) (High word)
Y-axis: Operation command
0
Y-axis: Mode of operation
0
Present command position of the Y-axis (Pulse) (Low word)
0
Present command position of the Y-axis (Pulse) (High word)
Present command speed of the Y-axis (PPS) (Low word)
0
Present command speed of the Y-axis (PPS) (High word)
Present command position of the Y-axis (Unit) (Low word)
0
Present command position of the Y-axis (Unit) (High word)
Present command speed of the Y-axis (Unit) (Low word)
0
Present command speed of the Y-axis (Unit) (High word)
State of the Y-axis
0
Y-axis error code
0
Electronic gear ratio of the Y-axis (Numerator)
Electronic gear ratio of the Y-axis (Denominator)
Frequency of pulses generated by the manual pulse generator
for the Y-axis (Low word)
0
Frequency of pulses generated by the manual pulse generator
for the Y-axis (High word)
Number of pulses generated by the manual pulse generator
for the Y-axis (Low word)
0
Number of pulses generated by the manual pulse generator
for the X-axis (High word)
Response speed of the manual pulse generator for the Y-axis
Electrical zero of the Y-axis (Low word)
Electrical zero of the Y-axis (High word)
Starting the Y-axis manually (ZRN, MPG, JOG-, JOG+)
Setting the parameters of the Z-axis
Number of pulses it takes for the motor of the Z-axis to rotate
once (Low word)
Number of pulses it takes for the motor of the Z-axis to rotate
once (High word)
Distance generated after the motor of the Z-axis rotate once
(Low word)
Distance generated after the motor of the Z-axis rotate once
(High word)
Maximum speed (VMAX) at which the Z-axis rotates (Low word)
Maximum speed (VMAX) at which the Z-axis rotates (High word)
Start-up speed (VBIAS) at which the Z-axis rotates (Low word)
Start-up speed (VBIAS) at which the Z-axis rotates (High word)
JOG speed (VJOG) at which the Z-axis rotates (Low word)
JOG speed (VJOG) at which the Z-axis rotates (High word)
STOP RUN

 Attribute Latching Default Page
RUN STOP
R/W
No
0
R/W
No
0
R/W
No
0
R/W
No
0
-
-
R/W
No
1000
-
-
-
R/W
R/W
R/W
R/W
No
No
No
No
0
0
0
0
-
-
-
R/W
No
2000
-
-
0
-
R/W
R/W
No
No
0
0
3-42
3-42
-
-
R/W
No
0
-
0
0
R/W
No
0
-
-
-
R/W
No
0
-
0
0
R/W
No
0
-
-
-
R
R
R/W
R/W
No
No
Yes
Yes
0
0
1
1
3-43
3-39
-
-
0
R/W
No
0
-
-
-
R/W
No
0
-
-
-
R/W
Yes
5
-
-
-
R/W
Yes
0
-
-
-
R/W
R/W
Yes
Yes
4
0
3-40
-
-
R/W
Yes
2000
-
-
-
R/W
Yes
1000
-
-
-
R/W
Yes
500K
-
-
-
R/W
Yes
0
-
-
-
R/W
Yes
5000
-
DVP-10PM Application Manual
3 Devices
Special
D
device
Function
Off

On
D1988 Speed (VRT) at which the Z-axis returns home (Low word)
D1989 Speed (VRT) at which the Z-axis returns home (High word)
Speed (VCR) to which the speed of the Z-axis decreases when
D1990
the axis returns home (Low word)
Speed (VCR) to which the speed of the Z-axis decreases when
D1991
the axis returns home (High word)
D1992 Number of PG0 pulses for the Z-axis
D1993 Supplementary pulses for the Z-axis
D1994 Home position of the Z-axis (Low word)
D1995 Home position of the Z-axis (High word)
D1996 Time (TACC) it takes for the Z-axis to accelerate
D1997 Time (TDEC) it takes for the Z-axis to decelerate
Target position of the Z-axis (P (I)) (Low word)
0
D1998
Pulse width for the Z-axis (Low word)
0
Target position of the Z-axis (P (I)) (High word)
0
D1999
Pulse width for the Z-axis (High word)
0
D2000 Speed at which the Z-axis rotates (V (I)) (Low word)
1000
D2001 Speed at which the Z-axis rotates (V (I)) (High word)
Target position of the Z-axis (P (II)) (Low word)
0
D2002
Output period for the Z-axis (Low word)
0
Target position of the Z-axis (P (II)) (High word)
0
D2003
Output period for the Z-axis (High word)
0
D2004 Speed at which the Z-axis rotates (V (II)) (Low word)
2000
D2005 Speed at which the Z-axis rotates (V (II)) (High word)
D2006 Z-axis: Operation command
0
D2007 Z-axis: Mode of operation
0
D2008 Present command position of the Z-axis (Pulse) (Low word)
0
D2009 Present command position of the Z-axis (Pulse) (High word)
D2010 Present command speed of the Z-axis (PPS) (Low word)
0
D2011 Present command speed of the Z-axis (PPS) (High word)
D2012 Present command position of the Z-axis (Unit) (Low word)
0
D2013 Present command position of the Z-axis (Unit) (High word)
D2014 Present command speed of the Z-axis (Unit) (Low word)
0
D2015 Present command speed of the Z-axis (Unit) (High word)
D2016 State of the Z-axis
0
D2017* Z-axis error code
0
D2018 Electronic gear ratio of the Z-axis (Numerator)
D2019 Electronic gear ratio of the Z-axis (Denominator)
Frequency of pulses generated by the manual pulse generator
D2020
for the Z-axis (Low word)
0
Frequency of pulses generated by the manual pulse generator
D2021
for the Z-axis (High word)
Number of pulses generated by the manual pulse generator
D2022
for the Z-axis (Low word)
0
Number of pulses generated by the manual pulse generator
D2023
for the Z-axis (High word)
D2024 Response speed of the manual pulse generator for the Z-axis
D2026 Electrical zero of the Z-axis (Low word)
D2027 Electrical zero of the Z-axis (High word)
Step address in the Oz motion subroutine at which an error
D2029
occurs (reserved, not available presently)
D2056 Setting the parameters of the A-axis
Number of pulses it takes for the motor of the A-axis to rotate
D2058
once (Low word)
Number of pulses it takes for the motor of the A-axis to rotate
D2059
once (High word)
DVP-10PM Application Manual
STOP RUN

 Attribute Latching Default Page
RUN STOP
-
-
R/W
Yes
50K
-
-
-
R/W
Yes
1000
-
-
-
R/W
R/W
Yes
Yes
0
0
-
-
-
R/W
Yes
0
-
-
-
R/W
R/W
R/W
R/W
R/W
R/W
Yes
Yes
No
No
No
No
500
500
0
0
0
0
-
-
-
R/W
No
1000
-
-
-
R/W
R/W
R/W
R/W
No
No
No
No
0
0
0
0
-
-
-
R/W
No
2K
-
-
0
-
R/W
R/W
No
No
0
0
3-42
3-42
-
-
R/W
No
0
-
0
0
R/W
No
0
-
-
-
R/W
No
0
-
0
0
R/W
No
0
-
-
-
R
R
R/W
R/W
No
No
Yes
Yes
0
0
1
1
3-43
3-39
-
-
0
R/W
No
0
-
-
-
R/W
No
0
-
-
-
R/W
Yes
5
-
-
-
R/W
Yes
0
-
-
R/W
Yes
0
-
-
R/W
Yes
0
3-40
-
-
R/W
Yes
2000
-
-
-
3-25
3 Devices
Special
D
device
D2060
D2061
D2062
D2063
D2064
D2065
D2066
D2067
D2068
D2069
D2070
D2071
D2072
D2073
D2074
D2075
D2076
D2077
D2078
D2079
D2080
D2081
D2082
D2083
D2084
D2085
D2086
D2087
D2088
D2089
D2090
D2091
D2092
D2093
D2094
D2095
D2096
D2097*
D2098
D2099
D2100
D2101
D2102
3-26
Function
Off

On
Distance generated after the motor of the A-axis rotate once
(Low word)
Distance generated after the motor of the A-axis rotate once
(High word)
Maximum speed (VMAX) at which the A-axis rotates (Low word)
Maximum speed (VMAX) at which the A-axis rotates (High
word)
Start-up speed (VBIAS) at which the A-axis rotates (Low word)
Start-up speed (VBIAS) at which the A-axis rotates (High word)
JOG speed (VJOG) at which the A-axis rotates (Low word)
JOG speed (VJOG) at which the A-axis rotates (High word)
Speed (VRT) at which the A-axis returns home (Low word)
Speed (VRT) at which the A-axis returns home (High word)
Speed (VCR) to which the speed of the A-axis decreases when
the axis returns home (Low word)
Speed (VCR) to which the speed of the A-axis decreases when
the axis returns home (High word)
Number of PG0 pulses for the A-axis
Supplementary pulses for the A-axis
Home position of the A-axis (Low word)
Home position of the A-axis (High word)
Time (TACC) it takes for the A-axis to accelerate
Time (TDEC) it takes for the A-axis to decelerate
Target position of the A-axis (P (I)) (Low word)
0
Pulse width for the A-axis (Low word)
0
Target position of the A-axis (P (I)) (High word)
0
Pulse width for the A-axis (High word)
0
Speed at which the A-axis rotates (V (I)) (Low word)
1000
Speed at which the A-axis rotates (V (I)) (High word)
Target position of the A-axis (P (II)) (Low word)
0
Output period for the A-axis (Low word)
0
Target position of the A-axis (P (II)) (High word)
0
Output period for the A-axis (High word)
0
Speed at which the A-axis rotates (V (II)) (Low word)
2000
Speed at which the A-axis rotates (V (II)) (High word)
A-axis: Operation command
0
A-axis: Mode of operation
0
Present command position of the A-axis (Pulse) (Low word)
0
Present command position of the A-axis (Pulse) (High word)
Present command speed of the A-axis (PPS) (Low word)
0
Present command speed of the A-axis (PPS) (High word)
Present command position of the A-axis (Unit) (Low word)
0
Present command position of the A-axis (Unit) (High word)
Present command speed of the A-axis (Unit) (Low word)
0
Present command speed of the A-axis (Unit) (High word)
State of the A-axis
0
A-axis error code
0
Electronic gear ratio of the A-axis (Numerator)
Electronic gear ratio of the A-axis (Denominator)
Frequency of pulses generated by the manual pulse generator
0
for the A-axis (Low word)
Frequency of pulses generated by the manual pulse generator
0
for the A-axis (High word)
Number of pulses generated by the manual pulse generator
0
for the A-axis (Low word)
STOP RUN

 Attribute Latching Default Page
RUN STOP
-
-
R/W
Yes
1000
-
-
-
R/W
Yes
500K
-
-
-
R/W
Yes
0
-
-
-
R/W
Yes
5000
-
-
-
R/W
Yes
50K
-
-
-
R/W
Yes
1000
-
-
-
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Yes
Yes
Yes
Yes
Yes
Yes
No
No
No
No
0
0
0
0
500
500
0
0
0
0
-
-
-
R/W
No
1000
-
-
-
R/W
R/W
R/W
R/W
No
No
No
No
0
0
0
0
-
-
-
R/W
No
2K
-
-
0
-
R/W
R/W
No
No
0
0
3-42
3-42
-
-
R/W
No
0
-
0
0
R/W
No
0
-
-
-
R/W
No
0
-
0
0
R/W
No
0
-
-
-
R
R
R/W
R/W
No
No
Yes
Yes
0
0
1
1
3-43
3-39
-
-
0
R/W
No
0
-
-
0
R/W
No
0
-
-
-
R/W
No
0
-
DVP-10PM Application Manual
3 Devices
Special
D
device
D2103
D2104
D2136
D2138
D2139
D2140
D2141
D2142
D2143
D2144
D2145
D2146
D2147
D2148
D2149
D2150
D2151
D2152
D2153
D2154
D2155
D2156
D2157
D2158
D2159
D2160
D2161
D2162
D2163
D2164
D2165
D2166
D2167
D2168
D2169
D2170
D2171
D2172
D2173
D2174
D2175
D2176
D2177
D2178
D2179
D2180
Function
Number of pulses generated by the manual pulse generator
for the A-axis (High word)
Response speed of the manual pulse generator for the A-axis
Setting the parameters of the B-axis
Number of pulses it takes for the motor of the B-axis to rotate
once (Low word)
Number of pulses it takes for the motor of the B-axis to rotate
once (High word)
Distance generated after the motor of the B-axis rotate once
(Low word)
Distance generated after the motor of the B-axis rotate once
(High word)
Maximum speed (VMAX) at which the B-axis rotates (Low word)
Maximum speed (VMAX) at which the B-axis rotates (High
word)
Start-up speed (VBIAS) at which the B-axis rotates (Low word)
Start-up speed (VBIAS) at which the B-axis rotates (High word)
JOG speed (VJOG) at which the B-axis rotates (Low word)
JOG speed (VJOG) at which the B-axis rotates (High word)
Speed (VRT) at which the B-axis returns home (Low word)
Speed (VRT) at which the B-axis returns home (High word)
Speed (VCR) to which the speed of the B-axis decreases when
the axis returns home (Low word)
Speed (VCR) to which the speed of the B-axis decreases when
the axis returns home (High word)
Number of PG0 pulses for the B-axis
Supplementary pulses for the B-axis
Home position of the B-axis (Low word)
Home position of the B-axis (High word)
Time (TACC) it takes for the B-axis to accelerate
Time (TDEC) it takes for the B-axis to decelerate
Target position of the B-axis (P (I)) (Low word)
Target position of the B-axis (P (I)) (High word)
Speed at which the B-axis rotates (V (I)) (Low word)
Speed at which the B-axis rotates (V (I)) (High word)
Target position of the B-axis (P (II)) (Low word)
Target position of the B-axis (P (II)) (High word)
Speed at which the B-axis rotates (V (II)) (Low word)
Speed at which the B-axis rotates (V (II)) (High word)
B-axis: Operation command
B-axis: Mode of operation
Present command position of the B-axis (Pulse) (Low word)
Present command position of the B-axis (Pulse) (High word)
Present command speed of the B-axis (PPS) (Low word)
Present command speed of the B-axis (PPS) (High word)
Present command position of the B-axis (Unit) (Low word)
Present command position of the B-axis (Unit) (High word)
Present command speed of the B-axis (Unit) (Low word)
Present command speed of the B-axis (Unit) (High word)
State of the B-axis
B-axis error code
Electronic gear ratio of the B-axis (Numerator)
Electronic gear ratio of the B-axis (Denominator)
Frequency of pulses generated by the manual pulse generator
for the B-axis (Low word)
DVP-10PM Application Manual
Off

On
STOP RUN

 Attribute Latching Default Page
RUN STOP
0
-
-
R/W
No
0
-
-
-
-
R/W
R/W
Yes
Yes
5
0
3-40
-
R/W
Yes
2000
-
-
-
-
R/W
Yes
2000
-
-
-
-
R/W
Yes
1000
-
R/W
Yes
1000
-
-
-
R/W
Yes
500K
-
-
R/W
Yes
500K
-
-
-
-
-
-
-
-
Yes
Yes
Yes
Yes
Yes
Yes
0
0
5000
5000
50K
50K
-
-
R/W
R/W
R/W
R/W
R/W
R/W
-
-
-
R/W
Yes
1000
-
-
-
-
R/W
Yes
1000
-
0
0
1000
1000
0
0
2000
2000
0
0
0
0
0
0
0
0
0
0
0
0
-
0
0
0
0
-
0
0
0
0
0
-
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R
R
R/W
R/W
Yes
Yes
Yes
Yes
Yes
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Yes
Yes
0
0
0
0
500
500
0
0
1000
1000
0
0
2K
2K
0
0
0
0
0
0
0
0
0
0
0
0
1
1
3-42
3-42
0
-
0
R/W
No
0
-
-
-
3-43
3-39
-
3-27
3 Devices
Special
D
device
D2181
D2182
D2183
D2184
D2216
D2218
D2219
D2220
D2221
D2222
D2223
D2224
D2225
D2226
D2227
D2228
D2229
D2230
D2231
D2232
D2233
D2234
D2235
D2236
D2237
D2238
D2239
D2240
D2241
D2242
D2243
D2244
D2245
D2246
D2247
D2248
D2249
D2250
D2251
D2252
D2253
D2254
D2255
D2256
D2257
D2258
3-28
Function
Frequency of pulses generated by the manual pulse generator
for the B-axis (High word)
Number of pulses generated by the manual pulse generator
for the B-axis (Low word)
Number of pulses generated by the manual pulse generator
for the B-axis (High word)
Response speed of the manual pulse generator for the B-axis
Setting the parameters of the C-axis
Number of pulses it takes for the motor of the C-axis to rotate
once (Low word)
Number of pulses it takes for the motor of the C-axis to rotate
once (High word)
Distance generated after the motor of the C-axis rotate once
(Low word)
Distance generated after the motor of the C-axis rotate once
(High word)
Maximum speed (VMAX) at which the C-axis rotates (Low word)
Maximum speed (VMAX) at which the C-axis rotates (High
word)
Start-up speed (VBIAS) at which the C-axis rotates (Low word)
Start-up speed (VBIAS) at which the C-axis rotates (High word)
JOG speed (VJOG) at which the C-axis rotates (Low word)
JOG speed (VJOG) at which the C-axis rotates (High word)
Speed (VRT) at which the C-axis returns home (Low word)
Speed (VRT) at which the C-axis returns home (High word)
Speed (VCR) to which the speed of the C-axis decreases when
the axis returns home (Low word)
Speed (VCR) to which the speed of the C-axis decreases when
the axis returns home (High word)
Number of PG0 pulses for the C-axis
Supplementary pulses for the C-axis
Home position of the C-axis (Low word)
Home position of the C-axis (High word)
Time (TACC) it takes for the C-axis to accelerate
Time (TDEC) it takes for the C-axis to decelerate
Target position of the C-axis (P (I)) (Low word)
Target position of the C-axis (P (I)) (High word)
Speed at which the C-axis rotates (V (I)) (Low word)
Speed at which the C-axis rotates (V (I)) (High word)
Target position of the C-axis (P (II)) (Low word)
Target position of the C-axis (P (II)) (High word)
Speed at which the C-axis rotates (V (II)) (Low word)
Speed at which the C-axis rotates (V (II)) (High word)
C-axis: Operation command
C-axis: Mode of operation
Present command position of the C-axis (Pulse) (Low word)
Present command position of the C-axis (Pulse) (High word)
Present command speed of the C-axis (PPS) (Low word)
Present command speed of the C-axis (PPS) (High word)
Present command position of the C-axis (Unit) (Low word)
Present command position of the C-axis (Unit) (High word)
Present command speed of the C-axis (Unit) (Low word)
Present command speed of the C-axis (Unit) (High word)
State of the C-axis
C-axis error code
Electronic gear ratio of the C-axis (Numerator)
Off

On
STOP RUN

 Attribute Latching Default Page
RUN STOP
0
-
0
R/W
No
0
-
0
-
-
R/W
No
0
-
0
-
-
R/W
No
0
-
-
-
-
R/W
R/W
Yes
Yes
5
0
3-40
-
R/W
Yes
2000
-
-
-
-
R/W
Yes
2000
-
-
-
-
R/W
Yes
1000
-
-
-
-
R/W
Yes
1000
-
-
-
-
R/W
Yes
500K
-
-
R/W
Yes
500K
-
-
-
-
R/W
R/W
R/W
R/W
R/W
R/W
Yes
Yes
Yes
Yes
Yes
Yes
0
0
5000
5000
50K
50K
-
-
-
-
R/W
Yes
1000
-
-
-
-
R/W
Yes
1000
-
0
0
1000
1000
0
0
2000
2000
0
0
0
0
0
0
0
0
0
0
0
0
-
0
0
0
0
-
0
0
0
0
0
-
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R
R
R/W
Yes
Yes
Yes
Yes
Yes
Yes
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
No
Yes
0
0
0
0
500
500
0
0
1000
1000
0
0
2K
2K
0
0
0
0
0
0
0
0
0
0
0
0
1
3-42
3-43
3-39
-
DVP-10PM Application Manual
3 Devices
Special
D
device
Function
D2259 Electronic gear ratio of the C-axis (Denominator)
Frequency of pulses generated by the manual pulse generator
D2260
for the C-axis (Low word)
Frequency of pulses generated by the manual pulse generator
D2261
for the C-axis (High word)
Number of pulses generated by the manual pulse generator
D2262
for the C-axis (Low word)
Number of pulses generated by the manual pulse generator
D2263
for the C-axis (High word)
D2264 Response speed of the manual pulse generator for the C-axis
DVP-10PM Application Manual
Off

On
-
STOP RUN

 Attribute Latching Default Page
RUN STOP
R/W
Yes
1
-
0
-
0
R/W
No
0
-
0
-
0
R/W
No
0
-
0
-
-
R/W
No
0
-
0
-
-
R/W
No
0
-
-
-
-
R/W
Yes
5
-
3-29
3 Devices
3.11 Functions of Special Auxiliary Relays and Special Data Registers
Op e ra tio n
fla gs
1. M1000: If the DVP-10PM series motion controller runs, M1000 will be a
normally-open contact (Form A contact). When the DVP-10PM series motion
controller runs, M1000 is ON.
M1000
M1000~M1003
Y0
If the DVP- 10PM ser ies motion
controller r uns , M1000 will be
a nor mal ly-open c ontact.
T he DVP-10PM series motion
controller is running.
Y0 is O N.
2. M1001: If the DVP-10PM series motion controller runs, M1001 will be a
normally-closed contact (Form B contact). When the DVP-10PM series motion
controller runs, M1001 is OFF.
3. M1002: A positive-going pulse is generated at the time when the DVP-10PM series
motion controller runs. The width of the pulse is equal to the scan cycle. If users
want to initialize the DVP-10PM series motion controller, they can use the contact.
4. M1003: A negative-going pulse is generated at the time when the DVP-10PM
series motion controller runs. The width of the pulse is equal to the scan cycle.
T he DVP-10PM series
motion controll er r uns .
M1000
M1001
M1002
M1003
Scan cyc le
Wat ch d og
time r
D1000
1. The watchdog timer is used to monitor a scan cycle. If the scan cycle is greater than
the watchdog timer value, the ERROR LED indicator on the DVP-10PM series
motion controller will be turned ON, and all the output devices will be turned OFF.
2. The watchdog timer is initailly set to 200. If the program is long, or the operation is
complex, users can change the watchdog timer value by means of the instruction
MOV. In the example below, the watchdog timer value is changed to 300.
M1002
0
D1000
MOV
K300
Initial pulse
3. The maximum value which can be stored in the watchdog timer is 32,767.
However, the larger the watchdog timer value is, the more time it takes to detect
any operation error. As a result, if there is no complex operation resulting in a scan
cycle longer than 200 milliseconds, it is suggested that the watchdog timer value
should be less than 200.
4. If an opration is complex, the scan cycle may be long. Users can check whether the
scan cycle is greater than the value stored in D1000 by monitoring D1010~D1012.
If the scan cycle is greater than the value stored in D1000, the users can change
the value in D1000.
3-30
DVP-10PM Application Manual
3 Devices
I nput f ilter
1. Users can set the time it takes for the input terminals X0~X7 to respond by setting
D1020. The value in D1020 must be in the range of 0 to 20. (Unit: ms)
2. If the DVP-10PM series motion controller is turned form OFF to ON, the value in S
D1020 will automatically become 10.
Ter minal
Response time
0
D1020
X0
0ms
1
1ms
D102 0 is set . The value in D102 0 is 10.
10
X7
Regener ating an input
10ms
15
15ms
T he state is memorized.
3. If the program below is executed, the time is takes for the input terminals X0~X7 to
respond will be 0 milliseconds. Owing to the fact that the input terminals are
connected to resistor-capacitor circuits in series, the shortest time it takes for the
input terminals to respond is 50 microseconds.
M1000
MOV
K0
D1020
Normally- open contac t
4. If high-spedd counters and interrupts are used in a program, the value in D1020
does not have any effect.
The communication ports with which a DVP-10PM series motion controller is equipped
Communication are COM1 (RS-232 port) and COM2 (RS-485 port). They support Modbus ASCII/RTU.
The maximum speed available is 115,200 bps. COM3 (RS-232/RS-485
por t
communication card) supports Modbus ASCII. The maximum speed available is
38,400 bps. COM1, COM2, and COM3 can be used simultaneously.
M1120, M1136,
COM1 COM1 can only be used as a slave station. It supports ASCII/RTU,
M1138, M1139,
and the adjustment of a communication speed. The maximum speed
M1143, D1036,
available is 115,200 bps. It supports the modification of the number of
D1109, and
data bits.
D1120
COM2 COM2 can be used as a master station or a slave station. It supports
ASCII/RTU, and the adjustment of a communication speed. The
maximum speed available is 115,200 bps. It supports the modification
of the number of data bits.
COM3 COM3 can only be used as a slave station. It supports the ASCII
communication format 7, E, 1 (7 data bits, even parity bit, 1 stop bit),
and the adjustment of a communication speed. The maximum speed
available is 38,400 bps. COM2 and COM3 can not be used as slave
stations simultaneously.
DVP-10PM Application Manual
3-31
3 Devices
◎ Setting a communication format:
COM1 1. D1036 is used to set a communication format. Bit 8~bit 15 in
D1036 do not support the setting of a communicaiton format.
2. M1138: The setting of the communication through COM1 is
retained.
3. M1139: Selecting an ASCII mode or an RTU mode
COM2 1. D11120 is used to set a communication format.
2. M1120: The setting of the communication through COM2 is
retained.
3. M1143: Selecting an ASCII mode or an RTU mode
COM3 1. D1109 is used to set a communication format. Bit 0~bit 3 and Bit
8~bit 15 in D1036 do not support the setting of a communicaiton
format.
2. M1136: The setting of the communication through COM3 is
retained.
Communication format:
b0
b1
b2
Contents
Data length
Parity bit
Stop bit
b7~b4=0001 (H1)
b7~b4=0010 (H2)
b7~b4=0011
(H3)
b7~b4=0100 (H4)
b7~b4=0101 (H5)
b7~b4=0110
(H6)
b7~b4
b7~b4=0111
(H7)
b7~b4=1000 (H8)
b7~b4=1001 (H9)
b7~b4=1010 (HA)
b7~b4=1011
(HB)
b7~b4=1100
(HC)
Start character
b8
First terminator
b9
Second terminator
b10
b15~b11 Undefined
b3
3-32
:
:
:
:
:
:
:
:
:
:
:
:
0
b0=0: 7
b2, b1=00
b2, b1=01
b2, b1=11
b3=0: 1 bit
110
150
300
600
1,200
2,400
4,800
9,600
19,200
38,400
57,600
115,200
b8=0: None
b9=0: None
b10=0: None
:
:
:
1
b0=1: 8
None
Odd
Even
b3=1: 2 bits
bps
bps
bps
bps
bps
bps
bps
bps
bps
bps
bps
bps
b8=1: D1124
b9=1: D1125
b10=1: D1126
DVP-10PM Application Manual
3 Devices
Example 1: Modifying the communication format of COM2
If users want to modify the communication format of COM2 on a DVP-10PM series
motion controller, they have to add the program shown below to the top of the
program in the DVP-10PM series motion controller. After the STOP/RUN switch on
the DVP-10PM series motion controller is turned from the STOP position to the
RUN position, the state of M1120 will be detected during the first scan cycle. If
M1120 is ON, the setting of COM2 will be changed in accordance with the value in
D1120.
The communication format of COM2 is changed to the ASCII format 9600, 7, E 1
(9,600bps, 7 data bits, even parity bit, 1 stop bit).
M1002
MOV
H86
SET
M1120
D1120
Notes:
1. If COM2 on a DVP-10PM series motion controller is used as a slave station, no
communication instruction can exist in the program in the DVP-10PM series
motion controller.
2. If the STOP/RUN switch on a DVP-10PM series motion controller is turned from
the RUN position to the STOP position after the communication format of COM2
is modified, the new communication format of COM2 will not be changed.
3. If users disconnect a DVP-10PM series motion controller and then power it up
after they modify the communication format of COM2, the new communication
format of COM2 will be restored to its factory setting.
Example 2: Modifying the communication format of COM1
If users want to modify the communication format of COM1 on a DVP-10PM series
motion controller, they have to add the program shown below to the top of the
program in the DVP-10PM series motion controller. After the STOP/RUN switch on
the DVP-10PM series motion controller is turned from the STOP position to the
RUN position, the state of M1138 will be detected during the first scan cycle. If
M1138 is ON, the setting of COM1 will be changed in accordance with the value in
D1036.
The communication format of COM1 is changed to the ASCII format 9600, 7, E 1
(9,600bps, 7 data bits, even parity bit, 1 stop bit).
M1002
MOV
H86
SET
M1138
D1036
Notes:
1. If the STOP/RUN switch on a DVP-10PM series motion controller is turned from
the RUN position to the STOP position after the communication format of COM1
is modified, the new communication format of COM1 will not be changed.
2. If users disconnect a DVP-10PM series motion controller and then power it up
after they modify the communication format of COM1, the new communication
format of COM1 will be restored to its factory setting.
Example 3: Modifying the communication format of COM3
The communication format of COM3 is 7, E 1 (7 data bits, even parity bit, 1 stop
bit). If users want to change the communication speed of COM3 on a DVP-10PM
series motion controller to 38,400 bps, they have to add the program shown below
to the top of the program in the DVP-10PM series motion controller. After the
STOP/RUN switch on the DVP-10PM series motion controller is turned from the
STOP position to the RUN position, the state of M1136 will be detected during the
DVP-10PM Application Manual
3-33
3 Devices
first scan cycle. If M1136 is ON, the setting of COM3 will be changed in accordance
with the value in D1109.
The communication speed of COM3 is changed to 38,400 bps.
M1002
MOV
HA0
SET
M1136
D1109
Example 4: Using COM1/COM2 in an RTU mode
COM1: (9,600, 8, E, 1, RTU)
M1002
MOV
H87
SET
M1138
SET
M1139
D1036
COM2: (9,600, 8, E, 1, RTU)
M1002
MOV
H87
SET
M1120
SET
M1143
D1120
If an RS-485 port on a DVP-10PM series motion controller functions as a slave station,
Co mmunica tion users can set a communication timeout. The value in D1038 is in the range of 0 to
3,000 (0 to 30 seconds). The unit used is 10 milliseconds. If the value in D1038 is not
timeout
in the range of 0 to 3,000, the value in D1038 will become 0. The value in D1038 must
be less than the value in D1000.
D1038
1. If M1039 is ON, the time it takes for the program to be scanned will depend on the
value in D1039. If the execution of a program is complete, the program will not be
Fixe d scan
scanned again until the fixed scan time set elapses. If the value in D1039 is less
ti me
than the time it takes for a program to be scanned, the time it takes for a program to
be scanned, will be given priority.
M1039 and D1039
M1000
M1039
Normally -open
contact
MOV P
F ixed s can time
K20
D1039
T he fixed s can time is 20 millis ec onds .
2. The values stored in D1010~D1012 include the value stored in D1039.
Users can specify an Ox motion subroutine by setting D1868. The steps of setting
Setting an OX
D1868 are as follows.
motion subroutine
1. The users have to set bit 14 in D1868 to 1, set bit 15 in D1868 to 1, or set bit 14 and
number
bit 15 in D1868 to 1. Besides, the users have to write K99 (H63) into bit 0~bit 13 in
D1868, that is, the Ox motion subroutine number specified is Ox99. To sum up, the
M1074 and D1868
users have to write H8063 into D1868.
2. After M1074 is set to ON, the Ox motion subroutine specified by D1868 will be
executed.
3-34
DVP-10PM Application Manual
3 Devices
The program is shown below.
X0
MOVP
H8063
SET
M1074
D1868
In the main program O100, X0 starts the motion subroutine Ox99.
There are six high-speed counters.
H ig h-s peed
co unt in g
M1200 and C200
M1204 and C204
M1208 and C208
M1212 and C212
M1216 and C216
M1220 and C220
Mode of counting
Number
Counter
number
Device
1
C200
K1M1200
2
C204
K1M1204
3
C208
K1M1208
4
C212
K1M1212
External
resetting
terminal
Setting value
0: U/D*
1: P/D*
2: A/B* (One
time the
frequency of
A/B-phase
inputs)
3: 4A/B (Four
times the
frequency of
A/B-phase
inputs)
External input
terminal
X10/M1203
X0, X1, and S/S
X11/M1207
X2, X3, and S/S
X12/M1211
X4, X5, and S/S
X13/M1215
X6, X7, and S/S
X10+, X10-, X11+,
and X11X12+, X12-, X13+,
6
C220
K1M1220
X1/M1223
and X13*1. U/D: Counting up/Counting down; P/D: Pulse/Direction; A/B: A phase/B phase
*2. The input terminals of the first counter~the fourth counter are transistors whose collectors
are open collectors. The input terminals of the fifth counter~the sixth counter are differential
input terminals.
5
C216
K1M1216
X0/M1219
The steps of setting the second counter are as follows.
1. Write K2 into K1M1204.
2. Enable C204.
The program for step 1 and step 2 is shown below.
X0
MOVP
K2
DCNT
C204
K1M1204
K10
3. If users want to clear the present counter value by means of an external signal, they
have to write HA into K1M1024.
M1027
M1026
M1025
M1204
1
0
1
0
4. C204 is enabled. If X11 is ON, the present value of C204 will become zero.
The program for step 3 and step 4 is shown below.
X0
DVP-10PM Application Manual
MOVP
HA
DCNT
C204
K1M1204
K10
3-35
3 Devices
There are six high-speed timers.
H ig h-s peed
t iming
M1200 and C201
M1204 and C205
M1208 and C209
M1212 and C213
M1216 and C217
M1220 and C221
Number Counter
Mode of measuring time
Setting value
Device
1
C200
K1M1200
2
C204
K1M1204
3
C208
K1M1208
4
C212
K1M1212
5
C216
K1M1216
6
C220
K1M1220
External Storage
signal
device
Bit3
Bit2
Bit1
Bit0
Enabling
Selecting
x
x
a timer
a mode
Bit2: Enabling a timer
Bit0: (1) 0: General mode (The interval
between the rising edge of a
pulse and the falling edge of the
pulse is measured.)
(2) 1: Cyclic mode (The interval
between the rising edge of a
pulse and the rising edge of the
next pulse is measured.)
X10
C201
X11
C205
X12
C209
X13
C213
X0
C217
X1
C221
Example 1: Using the third timer in a general mode
1. Users have to select the general mode, and enable the timer, that is, they have to
write K4 into K1M1208.
2. C208 is enabled. The interval between the rising edge of a pulse received through
X12 and the falling edge of the pulse is measured. The interval is written into C209.
(Unit: 0.01 microseconds)
X12
t
t2
t1
C209
C209
General mode
Unit: 0.01 μs
The program is shown below.
X0
MOVP
K4
DCNT
C208
K1M1208
K10
Example 2: Using the third timer in a cyclic mode
1. Users have to write K5 into K1M1208.
2. C208 is enabled. The interval between the rising edge of a pulse received through
X12 and the rising edge of the next pulse is measured. The interval is written into
C209. (Unit: 0.01 microseconds)
X12
t1
t
t2
C209
C209
Cyclic mode
Unit: 0.01 μs
3-36
DVP-10PM Application Manual
3 Devices
The program is shown below.
X0
D ete ctin g
e xp a ns i on
MOVP
K5
DCNT
C208
K1M1208
K10
The cyclic mode is used to measure a frequency.
1. D1140: Number of right-side modules (AD, DA, XA, PT, TC, RT, HC, PU) (8
right-side modules at most)
2. D1142: Number of X devices in a digital module
3. D1143: Number of Y devices in a digital module
D1140, D1142,
and D1143
1. Users can set latching device ranges. The devices in the range of a starting latching
device address and a terminal latching device address are latching devices.
Latching
device range 2. Please refer to section 3.1 for more information.
D1200~D1211
Turning the X
devices ON/OFF
If M1304 in a DVP-10PM series motion controller is ON, the X devices in the
DVP-10PM series motion controller can be turned ON/OFF by means of PMSoft.
M1304
Re a l-time
cl ock
D1313~D1319
1. Special data registers which are related to the real-time clock in a DVP-10PM
series motion controller
Device
D1313
D1314
D1315
D1316
D1317
D1318
D1319
Name
Second
Minute
Hour
Day
Month
Week
Year
Function
0~59
0~59
0~23
1~31
1~12
1~7
0~99 (A.D.)
2. If the value of the second in the real-time clock in a DVP-10PM series motion
controller is incorrect, it will become 0. If the value of the minute in the real-time
clock in a DVP-10PM series motion controller is incorrect, it will become 0. If the
value of the hour in the real-time clock in a DVP-10PM series motion controller is
incorrect, it will become 0. If the value of the day in the real-time clock in a
DVP-10PM series motion controller is incorrect, it will become 1. If the value of the
month in the real-time clock in a DVP-10PM series motion controller is incorrect, it
will become 1. If the value of the week in the real-time clock in a DVP-10PM series
motion controller is incorrect, it will become 1. If the value of the year in the
real-time clock in a DVP-10PM series motion controller is incorrect, it will become 0.
3. The real-time clock in a DVP-10PM series motion controller is a latching device. If it
is disconnected and then powered up, it will continue measuring time. It is
suggested that users should calibrate the real-time clock in a DVP-10PM series
motion controller after it is powered up.
DVP-10PM Application Manual
3-37
3 Devices
1. If a DVP-10PM series motion controller is connected to special I/O modules, the
R ig ht- sid e
IDs of the special I/O modules will be stored in D1320~D1327.
spe c ia l
I/O mo d ul e ID 2. ID’s of the special I/O modules which can be connected to a DVP-10PM series
motion controller:
D1320~D1327
I/O module
DVP04AD-H2
DVP04DA-H2
DVP04TC-H2
DVP-PM
In te rru p t
reg iste r
D1400 and D1401
Clearing the
M-c ode w hich
is execu ted
ID
(Hexadecimal value)
H’6400
H’6401
H’6403
H’6260
I/O module
DVP01PU-H2
DVP04PT-H2
DVP06XA-H2
DVP01HC-H2
ID
(Hexadecimal value)
H’6110
H’6402
H’6604
H’6120
1. D1400 is an interrupt register. If users set a bit in D1400 to ON, an interrupt will be
enabled.
Bit#
0
1
2
3
4
5
6
7
8
Interrupt
Time interrupt
External terminal START0/X0
External terminal STOP0/X1
External terminal START1/X2
External terminal STOP1/X3
External terminal X4
External terminal X5
External terminal X6
External terminal X7
Interrupt number
I0
I1
I2
I3
I4
I5
I6
I7
I8
2. If an interrupt enabled is a time interrupt, users can write the cycle of the interrupt
into D1401.
3. There are two types of interrupts.
 External interrupt: If an interrupt is triggered by the rising edge/falling edge of a
pulse received through an external terminal, the execution of the present
program will stop, and the interrupt will be executed. After an interrupt is
executed, the program which is executed before the interrupt is triggered will be
executed.
 Time interrupt: The execution of the present program stops at regular intervals.
Whenever the execution of the present program stops, an interrupt is executed.
 If users want to clear the M-code in D1703, they have to set M1744 to ON. If M1744
is set to ON, the value in D1703 will be cleared, and M1794 will be reset.
 If an M code in an Ox motion subroutine is executed, M1794 will be ON. The
M-code which is executed is stored in D1703.
M1744, M1794,
and D1703
Ready flag
M1792, M1872,
M2032, M2112,
M2192, and
M2272
3-38
1. Every motion axis uses a ready flag. The X-axis uses M1792, the Y-axis uses
M1872, the Z-axis uses M2032, the A-axis uses M2112, the B-axis uses M2192,
and the C-axis uses M2272. Users can use the ready flags to judge whether the
axes operate.
2. Description of the ready flag for the X-axis: Before the X-axis operates, M1792 is
ON. When the X-axis operates, M1792 is OFF. After the first axis finishes
operating, M1792 is ON.
DVP-10PM Application Manual
3 Devices
1. If errors occur in the X-axis, the Y-axis, the Z-axis, the A-axis, the B-axis, and the
C-axis, M1793, M1873, M2033, M2113, M2193, and M2273 will be ON, and the
error messages which appear will be stored in D1857, D1937, D2017, D2097,
D2177, and D2257.
M1793 and D1857 2. If users want to eliminate the error occuring in an axis, they have to clear the error
code in the special data register corresponding to the axis, and reset the special
M1873 and D1937
auxiliary relay corresponding to the axis.
M2033 and D2017
M2113 and D2097
M2193 and D2177
M2273 and D2257
If users want to turn an input terminal into a Form A contact, they have to set the bit
Setti ng the corresponding to the input terminal to OFF. If the users want to turn an input terminal
p ol ariti es of into a Form B contact, they have to set the bit corresponding to the input terminal to
ON.
th e i np ut
Cl earing the
motion error
te rmin al s
D1799
Bit#
0
1
2
3
4
5
6
7
Polarity
X0 (DOG0)
X1 (PG0)
X2 (DOG1)
X3 (PG1)
X4 (DOG2)
X5 (PG2)
X6 (DOG3)
X7 (PG3)
Bit#
8
9
10
11
12
13
14
15
Polarity
X10 (MPGA)
X11 (MPGB)
X12 (DOG4)
X13 (DOG5)
-
If a bit in D1800 is ON, the input terminal corresponding to the bit receives a signal. If a
Rea ding t he
bit in D1800 is OFF, the input terminal corresponding to the bit does not receive a
s tat es of the
signal.
in put ter min als
D1800
Bit#
0
1
2
3
4
5
6
7
DVP-10PM Application Manual
State
X0 (DOG0)
X1 (PG0)
X2 (DOG1)
X3 (PG1)
X4 (DOG2)
X5 (PG2)
X6 (DOG3)
X7 (PG3)
Bit#
8
9
10
11
12
13
14
15
State
X10 (MPGA)
X11 (MPGB)
X12 (DOG4)
X13 (DOG5)
-
3-39
3 Devices
1. Users can set a filter coefficient for the input terminals X0~X7 by setting the low
Se tti ng a fil te r
byte in SR806.
co effi cie nt fo r 2. Users can set a filter coefficient for the input terminals X10+, X10-, X11+, and X11th e i np ut
by setting the low byte in SR806.
te rmin al s
85000
3. Filter coefficeint  N  4 (kHz); N=1~19
D1806
2
N
1
2
3
4
5
6
7
8
9
10
kHz
2656.25
1328.125
664.0625
332.0313
166.0156
83.00781
41.50391
20.75195
10.37598
5.187988
N
11
12
13
14
15
16
17
18
19
kHz
2.593994
1.296997
0.648499
0.324249
0.162125
0.081062
0.040531
0.020266
0.010133
4. If the value in D1806 is 0, no signals will be filtered.
5. If the value in D1806 is H000A, the filter coefficient for X0~X7 and
85000
 5.187988
10  4
(KHz), and the signals whose frequencies are higher
MPG0/1 2

O1 00 er ror
than 5.187988 kHz will be removed.
1. If an error occurs in O100, M1953 will be ON, the error code corresponding to the
error will be stored in D1802, and the step address at which the error occurs will be
stored in D1803.
2. Please refer to appendix A in chapter 9 for more information about error codes.
M1953, D1802,
and D1803
is for the X-axis, D1896 is for the Y-axis, D1976 is for the Z-axis, D2056 is for
Se tt in g t he D1816
the A-axis, D2136 is for the B-axis, and D2216 is for the C-axis.
p ara mete rs Bit#
Parameter of the axis
Bit#
Parameter of the axis
*4
of th e ax is
0
8 Direction in which the axis returns home
*1
D1816, D1896,
D1976, D2056,
D2136, and
D2216
1
2
3
4
5
Unit
Ratio*4
Output type*3
9
10
11
12
13
Mode of returning home*4
Mode of triggering the return to home*4
Direction in which the motor rotates*4
Relative/Absolute coordinates*4
Mode of triggering the calculation of the
target position*4
Curve*4
*4
6* PWM mode
14
7
15
*: Only DVP-10PM series motion controllers support this function.
*1:
b1 b0
Unit
Motor unit Compound unit Mechanical unit
pulse
µm
0 0 Motor unit
Position
pulse
mdeg
0 1 Mechanical unit
pulse
10-4 inches
1 0
Compound unit
pulse/second
centimeter/minute
1 1
10
Speed
pulse/second
degrees/minute
pulse/second
inch/minute
3-40
DVP-10PM Application Manual
3 Devices
*2:
*3:
b3
b2
Ratio
b5
b4
0
0
100
0
0
0
1
1
1
0
1
101
102
103
0
1
1
1
0
1
Description
Positive-going
pulse+Negative-going pulse
Pulse+Direction
A/B-phase pulse (two
phases and two inputs)
*4:
Bit#
6
8
9
10
11
12
13
14
DVP-10PM Application Manual
Description
Bit 6=1: Enabling a PWM mode
(1) If positive JOG motion is started, Y0~Y3 will execute PWM.
(2) If single-speed motion is started, Y0~Y3 will send single-phase pulses.
(3) Pulse width: D1838, D1918, D1998, and D2078
(4) Output period: D1842, D1922, D2002, and D2082
Bit 8=0: The value indicating the present command position of the axis decreases
progressively.
Bit 8=1: The value indicating the present command position of the axis increases
progressively.
Bit 9=0: Normal mode ; bit 9=1: Overwrite mode
Bit 10=0: The return to home is triggered by a transition in DOG’s signal from high
to low.
Bit 10=1: The return to home is triggered by a transition in DOG’s signal from low
to high.
Bit 11=0: When the motor rotates clockwise, the value indicating the present
command position of the axis increases.
Bit 11=1: When the motor rotates clockwise, the value indicating the present
command position of the axis decreases.
Bit 12=0: Absolute coordinates
Bit 12=1: Relative coordinates
Bit 13=0: The calculation of the target position of the axis is triggered by a
transition in DOG’s signal from low to high.
Bit 13=1: The calculation of the target position of the axis is triggered by a
transition in DOG’s signal from high to low.
(The setting of bit 13 is applicable to the insertion of single-speed motion, and the
insertion of two-speed motion.)
Bit 14=0: Trapezoid curve
Bit 14=1: S curve
3-41
3 Devices
O pera tion
c ommand
D1846, D1926,
D2006, D2086,
D2166, and
D2246
D1846 is for the X-axis, D1926 is for the Y-axis, D2006 is for the Z-axis, D2086 is for
the A-axis, D2166 is for the B-axis, and D2246 is for the C-axis.
Bit#
0
1
2
3
4
5
6
7
Mod e of
ope rat io n
D1847, D1927,
D2007, D2087,
D2167, and
D2247
A mode of variable motion is
activated.
A manual pulse generator is
operated.
A mode of triggering the return to
home is activated.
－
Bit#
8
9
10
11
12
Operation command
A mode of single-speed motion is
activated.
A mode of inserting single-speed
motion is activated.
A mode of two-speed motion is
activated.
A mode of inserting two-speed
motion is activated.
0: The execution of the Ox motion
subroutine set stops.
1: The execution of the Ox motion
subroutine set starts.
13
－
14
－
15
－
D1847 is for the X-axis, D1927 is for the Y-axis, D2007 is for the Z-axis, D2087 is for
the A-axis, D2167 is for the B-axis, and D2247 is for the C-axis.
Bit#
Mode of operation
Bit#
0
－
8
－
1
－
9
－
－
2
Mode of sending a CLR signal
10
3
Setting the CLR output to ON/OFF
Setting the polarity of the CLR
output
11
4
5
6
7
3-42
Operation command
The motion of the axis specified is
stopped by software.
The motion of the axis specified is
started by software.
The axis specified operates in a
JOG+ mode.
The axis specified operates in a
JOG- mode.
－
Limitation on the present position of
the slave axis controlled by the
manual pulse generator used
Mode of stopping the motor used
when the motor used comes into
contact with a positive limit
switch/negative limit switch
Mode of operation
－
12
13
14
15
－
－
Restoring the DVP-10PM series
motion controller to the factory
settings
DVP-10PM Application Manual
3 Devices
Bit#
2
3
4
6
7
S tat e of
th e ax is
D1856, D1936,
D2016, D2096,
D2176, and
D2256
Description
Bit 2=0: After the axis specified returns home, the CLR output will send a 130
millisecond signal to the servo drive used, and the present position of the
servo drive which is stored in a register in the servo drive will be cleared.
Bit 2=1: The CLR output functions as a general output. Its state is controlled by bit 3.
Bit 3=0: The CLR output is OFF.
Bit 3=1: The CLR output is ON.
Bit 4=0: The CLR output is a Form A contact.
Bit 4=1: The CLR output is a Form B contact.
Bit 6=0: There is no limitation on the present position of the slave axis controlled by
the manual pulse generator used
Bit 6=1: The present position of the slave axis controlled by the manual pulse
generator used has to be in the range of the P (I) set to the P (II) set. If the
present position of the slave axis controlled by the manual pulse generator
used is not in the range of the P (I) set to the P (II) set, the slave axis will
decelerate and stop.
Bit 7=0: If the motor used comes into contact with a positive limit switch/negative limit
switch when it rotates, it will decelerate and stop.
Bit 7=1: If the motor used comes into contact with a positive limit switch/negative limit
switch when it rotates, it will stop immediately.
D1856 is for the X-axis, D1936 is for the Y-axis, D2016 is for the Z-axis, D2096 is for
the A-axis, D2176 is for the B-axis, and D2156 is for the C-axis.
Bit#
0
1
2
3
4
5
6
State of the axis
Positive-going pulses are being output.
Negative-going pulses are being output.
The axis specified is operating.
An error occurs.
The axis specified pauses.
The manual pulse generator used generates
positive-going pulses.
The manual pulse generator used generates
negative-going pulses.
7
DVP-10PM Application Manual
－
3-43
3 Devices
3.12 Special Data Registers for Motion Axes
The special data registers for the X-axis, the Y-axis, the Z-axis, the A-axis, the B-axis, and the C-axis in a
DVP-10PM series motion controller are described below. Please refer to this section for more information
about the setting of the special data registers.
X-axis
HW*1 LW*1
-
D1816
Special D device number
Y-axis
Z-axis
HW
LW
HW
LW
-
D1896
-
D1976
D1819 D1818 D1899 D1898 D1979 D1978
D1821 D1820 D1901 D1900 D1981 D1980
D1823 D1822 D1903 D1902 D1983 D1982
D1825 D1824 D1905 D1904 D1985 D1984
D1827 D1826 D1907 D1906 D1987 D1986
D1829 D1828 D1909 D1908 D1989 D1988
D1831 D1830 D1911 D1910 D1991 D1990
-
D1832
-
D1912
-
D1992
-
D1833
-
D1913
-
D1993
D1835 D1834 D1915 D1914 D1995 D1994
-
D1836
-
D1916
-
D1996
-
D1837
-
D1917
-
D1997
Special data register
A-axis
HW
LW
Setting the parameters of
D2056
the axis specified
Number of pulses it takes
D2059 D2058 for the motor of the axis
specified to rotate once (A)
Distance generated after
D2061 D2060 the motor of the axis
specified rotate once (B)
Maximum speed (VMAX) at
D2063 D2062 which the axis specified
rotates
Start-up speed (VBIAS) at
D2065 D2064 which the axis specified
rotates
JOG speed (VJOG) at which
D2067 D2066
the axis specified rotates
Speed (VRT) at which the
D2069 D2068
axis specified returns home
Speed (VCR) to which the
speed of the axis specified
D2071 D2070
decreases when the axis
returns home
Number of PG0 signals for
D2072
the axis specified
Number of supplementary
D2073
pulses for the axis specified
Home position of the axis
D2075 D2074
specified
Time (TACC) it takes for the
D2076
axis specified to accelerate
Time (TDEC) it takes for the
D2077
axis specified to decelerate
Default
value
Setting range
Bit 0~bit 15
H0
1~+2,147,483,647
pulses/revolution
K2,000
1~+2,147,483,647
*2
K1,000
0~+2,147,483,647
*3
K500,000
0~+2,147,483,647
*3
K0
0~+2,147,483,647 *3
K5,000
0~+2,147,483,647 *3
K50,000
0~+2,147,483,647 *3
K1,000
0~+32,767 PLS
K0
-32,768~+32,767 PLS
K0
0~±999,999
*1
K0
10~+32,767 ms
K100
10~+32,767 ms
K100
K0
D1839 D1838 D1919 D1918 D1999 D1998 D2079 D2078
Target position of the axis
specified (P (I))
-2,147,483,648~
*1
+2,147,483,647
D1841 D1840 D1921 D1920 D2001 D2000 D2081 D2080
Speed at which the axis
specified rotates (V (I))
0~+2,147,483,647
D1843 D1842 D1923 D1922 D2003 D2002 D2083 D2082
Target position of the axis
specified (P (II))
-2,147,483,648~
+2,147,483,647 *1
K0
0~+2,147,483,647 *2
K2,000
Speed at which the axis
specified rotates (V (II))
D2086 Operation command
D2087 Mode of operation
D1845 D1844 D1925 D1924 D2005 D2004 D2085 D2084
-
D1846
D1847
-
D1926
D1927
-
D2006
D2007
-
D1849 D1848 D1929 D1928 D2009 D2008 D2089
D1851 D1850 D1931 D1930 D2011 D2010 D2091
D1853 D1852 D1933 D1932 D2013 D2012 D2093
D1855 D1854 D1935 D1934 D2015 D2014 D2095
-
D1856
-
D1936
-
D2016
-
-
D1857
-
D1937
-
D2017
-
3-44
*1
Bit 0~bit 15
Bit 0~bit 15
Present command position -2,147,483,648~
D2088
of the axis specified (Pulse) +2,147,483,647 *1
Present command speed of 0~+2,147,483,647
D2090
the axis specified (PPS)
PPS
Present command position -2,147,483,648~
D2092
*3
of the axis specified (unit ) +2,147,483,647 *1
Present command speed of 0~+2,147,483,647
D2094
*3
the axis specified (unit )
PPS
D2096 State of the axis specified
Bit 0~bit 15
Please refer to
D2097 Axis error code
appendix A for more
information.
K1000
H0
H0
K0
K0
K0
K0
H0
H0
DVP-10PM Application Manual
3 Devices
X-axis
HW*1 LW*1
Special D device number
Y-axis
Z-axis
HW
LW
HW
LW
A-axis
HW
LW
-
D1858
-
D1938
-
D2018
-
-
D1859
-
D1939
-
D2019
-
Special data register
Electronic gear of the axis
specified (Numerator)
Electronic gear of the axis
D2099
specified (Denominator)
D2098
Default
value
Setting range
1~+32,767
K1
1~+32,767
K1
Frequency of pulses
generated by the
manual pulse
generator for the axis
specified
Number of pulses
Number of pulses
generated by the
generated by the manual
manual pulse
D1863 D1862 D1943 D1942 D2023 D2022 D2103 D2102
pulse generator for the axis
generator for the axis
specified
specified
Response speed of
Response speed of the
the manual pulse
D1864
D1944
D2024
D2104 manual pulse generator for
generator for the axis
the axis specified
specified
Users have to set a
Electrical zero of the axis
value according to
D1867 D1866 D1947 D1946 D2027 D2026
specified
their needs.
Users have to set a
Setting an Ox motion
value according to
D1868
subroutine number
their needs.
Step address in the Ox
Users have to set a
D1869
motion subroutine executed value according to
at which an error occurs
their needs.
Enabling a Y device when
Users have to set a
an Ox motion subroutine is value according to
D1872
ready (High byte)
their needs.
Enabling a Y device when
Users have to set a
an M-code in an Ox motion
value according to
D1873
subroutine is executed
their needs.
(High byte)
Users have to set a
Using an X device to reset
value according to
D1874
the M-code
their needs.
Starting the X-axis
Users have to set a
manually (ZRN, MPG,
value according to
D1875
D1955
JOG-, JOG+)
their needs.
Frequency of pulses
generated by the manual
D1861 D1860 D1941 D1940 D2021 D2020 D2101 D2100
pulse generator for the axis
specified
HW
Special D device number
B-axis
C-axis
LW
HW
Special data register
D2136
-
D2216
D2139
D2138
D2219
D2218
D2141
D2140
D2221
D2220
D2143
D2142
D2223
D2222
D2145
D2144
D2225
D2224
D2147
D2146
D2227
D2226
DVP-10PM Application Manual
Setting the parameters of
the axis specified
Number of pulses it takes
for the motor of the axis
specified to rotate once (A)
Distance generated after
the motor of the axis
specified rotate once (B)
Maximum speed (VMAX) at
which the axis specified
rotates
Start-up speed (VBIAS) at
which the axis specified
rotates
JOG speed (VJOG) at which
the axis specified rotates
K0
K5
K0
K0
K0
K0
K0
K0
K0
Default
value
Setting range
LW
-
K0
Bit 0~bit 15
H0
1~+2,147,483,647
pulses/revolution
K2,000
1~+2,147,483,647
*2
K1,000
0~+2,147,483,647
*3
K500,000
0~+2,147,483,647
*3
K0
0~+2,147,483,647
*3
K5,000
3-45
3 Devices
HW
Special D device number
B-axis
C-axis
LW
HW
Special data register
Default
value
Setting range
LW
D2149
D2148
D2229
D2228
D2151
D2150
D2231
D2230
-
D2152
-
D2232
-
D2153
-
D2233
D2155
D2154
D2235
D2234
-
D2156
-
D2236
-
D2157
-
D2237
D2159
D2158
D2239
D2238
D2161
D2160
D2241
D2163
D2162
D2165
Speed (VRT) at which the
axis specified returns home
Speed (VCR) to which the
speed of the axis specified
decreases when the axis
returns home
Number of PG0 signals for
the axis specified
Number of supplementary
pulses for the axis specified
Home position of the axis
specified
Time (TACC) it takes for the
axis specified to accelerate
Time (TDEC) it takes for the
axis specified to decelerate
0~+2,147,483,647 *3
0~+2,147,483,647
*3
K50,000
K1,000
0~+32,767 PLS
K0
-32,768~+32,767 PLS
K0
0~±999,999 *1
K0
10~+32,767 ms
K100
10~+32,767 ms
K100
Target position of the axis
specified (P (I))
-2,147,483,648~
+2,147,483,647 *1
K0
D2240
Speed at which the axis
specified rotates (V (I))
0~+2,147,483,647
D2243
D2242
Target position of the axis
specified (P (II))
-2,147,483,648~
*1
+2,147,483,647
K0
D2164
D2245
D2244
0~+2,147,483,647 *2
K2,000
-
D2166
D2167
-
D2246
D2247
Speed at which the axis
specified rotates (V (II))
Operation command
Mode of operation
D2169
D2168
D2249
D2248
D2171
D2170
D2251
D2250
D2173
D2172
D2253
D2252
D2175
D2174
D2255
D2254
-
D2176
-
D2256
-
D2177
-
D2257
-
D2178
-
D2258
-
D2179
-
D2259
D2181
D2180
D2261
D2260
D2183
D2182
D2263
D2262
-
D2184
-
D2264
*1
Bit 0~bit 15
Bit 0~bit 15
Present command position -2,147,483,648~
of the axis specified (Pulse) +2,147,483,647 *1
Present command speed of 0~+2,147,483,647
the axis specified (PPS)
PPS
Present command position -2,147,483,648~
*3
of the axis specified (unit ) +2,147,483,647 *1
Present command speed of 0~+2,147,483,647
*3
the axis specified (unit )
PPS
State of the axis specified
Bit 0~bit 15
Please refer to
Axis error code
appendix A for more
information.
Electronic gear of the axis
1~+32,767
specified (Numerator)
Electronic gear of the axis
1~+32,767
specified (Denominator)
Frequency of pulses
Frequency of pulses
generated by the
generated by the manual
manual pulse
pulse generator for the axis
generator for the axis
specified
specified
Number of pulses
Number of pulses
generated by the
generated by the manual
manual pulse
pulse generator for the axis
generator for the axis
specified
specified
Response speed of
Response speed of the
the manual pulse
manual pulse generator for
generator for the axis
the axis specified
specified
K1000
H0
H0
K0
K0
K0
K0
H0
H0
K1
K1
K0
K0
K5
*1: HW: High word; LW: Low word
*2: Unit: µm/rev, mdeg/rev, and 10-4 inches/rev
*3: The unit used varies with the setting of bit 0 and bit 1 in D1816/D1896/D1976.
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3 Devices
3.12.1 Descriptions of the Special Data Registers Related to Motion
X-axis
HW
LW
D1816
A-axis
HW
LW
D2056
Y-axis
HW
LW
D1896
B-axis
HW
LW
D2136
Z-axis
HW
LW
D1976
Setting the parameters of the axis specified
C-axis
HW
LW
D2216
[Description]
Bit 0~bit 15 in D1816 (D1896, D1976, D2056, D2136, D2216) are described below.
1. Bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216): Unit
b1
0
0
1
1
b0
Unit
0 Motor unit
1 Mechanical unit
0
Compound unit
1
Position
Motor unit
pulse
pulse
pulse
Speed
Description
A pulse is a unit.
A micrometer, 10-4 inches, or a degree is a unit.
Position: A micrometer, 10-4 inches, or a degree is a unit. (Mechanical unit)
Speed: A pulse is a unit. (Motor unit)
Compound unit
Mechanical unit
µm
mdeg
10-4 inches
pulse/second
pulse/second
pulse/second
centimeter/minute
10 degrees/minute
inch/minute
 Position: Home position of the axis specified, target position of the axis specified (P (I)), target
position of the axis specified (P (II)), and present command position of the axis specified
 Speed: Maximum speed (VMAX) at which the axis specified rotates, start-up speed (VBIAS) at which
the axis specified rotates, JOG speed (VJOG) at which the axis specified rotates, speed (VRT) at
which the axis specified returns home, speed (VCR) to which the speed of the axis specified
decreases when the axis returns home, speed at which the axis specified rotates (V (I)), and speed
at which the axis specified rotates (V (II))
 Example 1:
Bit [1:0]=00Motor unit
Position: Pulse
Speed: Pulse/second (PPS)
Target position of the axis specified (P (I)): 10,000 pulses
Speed at which the axis specified rotates: 10K PPS
After the DVP-10PM series motion controller sends 10,000 pulses, the axis specified can move to
the target position specified. (The frequency of pulses is 10K PPS.) The distance for which the axis
specified can move after a pulse is sent is calculated according to the physical quantity used.
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3 Devices
 Example 2:
Bit [1:0]=01Mechanical unit
Position: µm
Speed: Centimeter/minute
N=0
D1818 (D1898, D1978, D2058, D2138, D2218)=1,000 (pulses/revolution)
D1820 (D1900, D1980, D2060, D2140, D2220)=100 (micrometers/revolution)
P (I)=10,000 (micrometers)
V (I)=6 (centimeters/minute)
The number of pulses sent by the DVP-10PM series motion controller and the frequency of pulses
are calculated below.
Distance
Revolution
Distance 

 Number of pulses
Revolution
Number of pulses
 



B
1
A
Number of pulses it takes for the axis specified to move to the target position
specified  P (I) μm  P (I)  A  100,000 (pulses)
B
B
A
Speed at which the axis specified rotates (V (I)): 6 (centimeters/minute)=60,000/60
(micrometers/second)
Speed 
Distance
Distance
Revolution
Number of pulses



Time
Revolution
Number of pulses 
Time

 






B
1
PPS, pulse/sec
A
The frequency of pulses calculated by the DVP-10PM series motion controller
 V (I ) 
10 4 A 60,000 1,000
 =
×
= 10,000 (PPS)
100
60
60 B
 Example 3
Bit [1:0]=10 or 11Compound unit
Position: Micrometer
Speed: Pulse/second (PPS)
N=0
D1818 (D1898, D1978, D2058, D2138, D2218)=2,000 (pulses/revolution)
D1820 (D1900, D1980, D2060, D2140, D2220)=100 (micrometers/revolution)
P (I)=10,000 (micrometers)
V (I)=10K (PPS)
The number of pulses sent by the DVP-10PM series motion controller is calculated below.
Number of pulses it takes for the axis specified to move to the target position specified

P (I) μm
A
 P (I)   200,000 (pulses)
B
B
A
2. Bit 2 and bit 3 in D1816 (D1896, D1976, D2056, D2136, D2216): Ratio
Position: The home position of the axis specified, the target position of the axis specified (P (I)), the
target position of the axis specified (P (II)), and the present command position of the axis specified
must be multiplied by a ratio.
b3
0
0
1
1
3-48
b2
0
1
0
1
Ratio
Position×100
Position×101
Position×102
Position×103
DVP-10PM Application Manual
3 Devices
3. Bit 4 and bit 5 in D1816 (D1896, D1976, D2056, D2136, D2216): Output type
b5
b4
0
0
Output type (positive logic)
Description
FP Clo ckwise pu lse s
Counting up/down
RP Cou nte rcl ockwi se p ul ses
FP Pu lse s
0
Pulses+Directions
1
RP Di re ctio n s
1
0
1
1
Cl ockwi se
Co un ter clo ckwise
FP A -p ha se p ul ses
A/B-phase pulses
RP B- ph ase pu lse s
Cl ockwi se
Co un ter clo ckwise
4. Bit 6 in D1816 (D1896, D1976, D2056, D2136, D2216): Setting a PWM mode
Bit 6=1: If positive JOG motion is started, Y0~Y3 will execute PWM.
5. Bit 8 in D1816 (D1896, D1976, D2056, D2136, D2216): Direction in which the axis specified returns
home
Bit 8=0: The value indicating the present command position of an axis specified decreases, and the
axis returns home in the negative direction.
Bit 8=1: The value indicating the present command position of an axis specified increases, and the axis
returns home in the positive direction.
6. Bit 9 in D1816 (D1896, D1976, D2056, D2136, D2216): Mode of returning home
Bit 9=0: Normal mode
After DOG’s signal is generated, the motor used will rotate for a specific number of PG0 pulses, then
rotate for a specific number of supplementary pulses, and finally stop.
Bit 9=1: Overwrite mode
After DOG’s signal is generated, the motor used will rotate for a number of PG0 pulses or rotate for a
number of supplementary pulses, and then stop.
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3 Devices
7. Bit 10 in D1816 (D1896, D1976, D2056, D2136, D2216): Mode of triggering the return to home
Bit 10=0: The return to home is triggered by a transition in DOG’s signal from high to low.
Bit 10=1: The return to home is triggered by a transition in DOG’s signal from low to high.
 Bit [9:10] in D1816 (D1896, D1976, D2056, D2136, D2216) is 00.The mode of returning home is
a normal mode, and the return to home is triggered by a transition in DOG’s signal from high to low.
Steps: The motor used rotates at the speed VRT. When DOG’s signal is generated, the speed of the
motor begins to decrease to the speed VCR. After DOG’s signal goes from high to low, the motor will
rotate for a specific number of PG0 pulses, and then rotate for a specific number of supplementary
pulses, and finally stop.
If the number of PG0 pulses or the number of supplementary pulses is not large, the speed of the
motor used will decrease to the speed VCR after DOG’s signal is generated. After DOG’s signal
goes from high to low, the motor will rotate for a specific number of PG0 pulses, and then rotate for
a specific number of supplementary pulses, and finally stop whether the its speed is VCR.
If the number of PG0 pulses is 0, and the number of supplementary pulses is 0, the motor used will
stop after DOG’s signal is generated and there is a transition in DOG’s signal from high to low.
Vel oc ity ( PPS)
Away fr om DOG 's si gnal
Close to DO G's signal
V RT
Direction in which the axis
specified returns home
V CR
V CR
Number of supplementary pulses
Number of PG0 puls es
D OG
A transition in DOG 's
signal from high to low.
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3 Devices
 Bit [9:10] in D1816 (D1896, D1976, D2056, D2136, D2216) is 01.The mode of returning home is
a normal mode, and the return to home is not triggered by a transition in DOG’s signal from high to
low.
Steps: The motor used rotates at the speed VRT. When DOG’s signal is generated, the speed of the
motor begins to decrease to the speed VCR. After the motor rotates for a specific number of PG0
pulses, and rotate for a specific number of supplementary pulses, it will stop.
If the number of PG0 pulses or the number of supplementary pulses is not large, the speed of the
motor used will decrease to the speed VCR after DOG’s signal is generated. After the motor rotates
for a specific number of PG0 pulses, and rotates for a specific number of supplementary pulses, it
will stop whether its speed is VCR.
If the number of PG0 pulses is 0, and the number of supplementary pulses is 0, the motor used will
stop after DOG’s signal is generated.
Vel oc ity ( PPS)
Away fr om DOG 's si gnal
Close to DO G's signal
V RT
V CR
V CR
Direction in which the axis
specified returns hom e
Number of supplementary pulses
Number of PG0 puls es
D OG
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3 Devices
 Bit [9:10] in D1816 (D1896, D1976, D2056, D2136, D2216) is 10. The mode of returning home is
an overwrite mode, and the return to home is triggered by a transition in DOG’s signal from high to
low.
Steps: The motor used rotates at the speed VRT. When DOG’s signal is generated, the speed of the
motor begins to decrease to the speed VCR. After DOG’s signal goes from high to low, the motor will
rotate for a specific number of PG0 pulses, or rotate for a specific number of supplementary pulses,
and then stop.
If the number of PG0 pulses or the number of supplementary pulses is not large, the speed of the
motor used will decrease to the speed VCR after DOG’s signal is generated. After DOG’s signal
goes from high to low, the motor will rotate for a specific number of PG0 pulses, or rotate for a
specific number of supplementary pulses, and then stop whether the its speed is VCR.
If the number of PG0 pulses is 0, and the number of supplementary pulses is 0, the motor used will
stop after DOG’s signal is generated and there is a transition in DOG’s signal from high to low.
Vel oc ity ( PPS)
Away fr om DOG 's signal
C lose to DO G's signal
V RT
V CR
V CR
Direction in which the axis
specified returns home
Number of supplementary pulses
Number of PG0 puls es
D OG
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 Bit [9:10] in D1816 (D1896, D1976, D2056, D2136, D2216) is 11. The mode of returning home is
an overwrite mode, and the return to home is not triggered by a transition in DOG’s signal from high
to low.
Steps: The motor used rotates at the speed VRT. When DOG’s signal is generated, the speed of the
motor begins to decrease to the speed VCR. After the motor rotates for a specific number of PG0
pulses, or rotate for a specific number of supplementary pulses, it will stop.
If the number of PG0 pulses or the number of supplementary pulses is not large, the speed of the
motor used will decrease to the speed VCR after DOG’s signal is generated. After the motor rotates
for a specific number of PG0 pulses, or rotates for a specific number of supplementary pulses, it will
stop whether its speed is VCR.
If the number of PG0 pulses is 0, and the number of supplementary pulses is 0, the motor used will
stop after DOG’s signal is generated.
Vel oc ity ( PPS)
Away fr om DOG 's si gnal
C lose to DO G's signal
V RT
V CR
V CR
Direction in w hich the axis
specified returns home
Number of supplementar y puls es
Number of PG0 pul ses
D OG
8. Bit 11 in D1816 (D1896, D1976, D2056, D2136, D2216): Direction in which the motor used rotates
 Bit 11=0: When the motor rotates clockwise, the value indicating the present command position of
the axis specified increases.
 Bit 11=1: When the motor rotates clockwise, the value indicating the present command position of
the axis specified decreases.
9. Bit 12 in D1816 (D1896, D1976, D2056, D2136, D2216): Relative/Absolute coordinates
 Bit 12=0: Absolute coordinates
 Bit 12=1: Relative coordinates
10. Bit 13 in D1816 (D1896, D1976, D2056, D2136, D2216): Mode of triggering the calculation of the target
position
 Bit 13=0: The calculation of the target position of the axis specified is triggered by a transition in
DOG’s signal from low to high.
 Bit 13=1: The calculation of the target position of the axis specified is triggered by a transition in
DOG’s signal from high to low. (The setting of bit 13 is applicable to the insertion of single-speed
motion, and the insertion of two-speed motion.)
11. Bit 14 in D1816 (D1896, D1976, D2056, D2136, D2216): Curve
 Bit 14=0: Trapezoid curve
 Bit 14=1: S curve
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3 Devices
X-axis
HW
LW
D1819 D1818
A-axis
HW
LW
D2059 D2058
Y-axis
HW
LW
D1899 D1898
B-axis
HW
LW
D2139 D2138
Z-axis
HW
LW
D1979
D1978 Number of pulses it takes for the motor of the axis
specified to rotate once (A)
C-axis
HW
LW
D2219
D2218
[Description]
1. Owing to the fact that users can set an electronic gear ratio for a servo drive, the number of pulses it
takes for a servo motor to rotate once is not necessarily equal to the number of pulses which will be
generated after a decoder rotates once. The relation between the number of pulses it takes for a servo
drive to rotate once and an electronic gear ratio is described below.
Number of pulses it takes for a motor to rotate once (A) x Electronic gear ratio (CMX/CDV)=Number of
pulses which will be generated after a decoder rotates once
2. The unit used is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216). If the
unit selected is a mechanical unit or a compound unit, users need to set D1818 (D1898, D1978, D2058,
D2138, D2218) and D1819 (D1899, D1979, D2059, D2139, D2219). If the unit selected is a motor unit,
users do not need to set D1818 (D1898, D1978, D2058, D2138, D2218) and D1819 (D1899, D1979,
D2059, D2139, D2219).
X-axis
HW
LW
D1821 D1820
A-axis
HW
LW
D2061 D2060
Y-axis
HW
LW
D1901 D1900
B-axis
HW
LW
D2141 D2140
Z-axis
HW
LW
D1981
D1980
C-axis
HW
LW
D2221
D2220
Distance generated after the motor of the axis
specified rotate once (B)
[Description]
1. Three units are available. They are µm/revolution, mdeg/revolution, and 10-4 inches/revolution. The unit
used is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216). The value in
(D1821, D1820) ((D1901, D1900), (D1981, D1980), (D2061, D2060), (D2141, D2140), (D2221, D2220))
is in the range of 1 to 2,147,483,647.
2. The unit used is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216). If the
unit selected is a mechanical unit or a compound unit, users need to set D1820 (D1900, D1980, D2060,
D2140, D2220) and D1821 (D1901, D1981, D2061, D2141, D2221). If the unit selected is a motor unit,
users do not need to set D1820 (D1900, D1980, D2060, D2140, D2220) and D4821 (D1901, D1981,
D2061, D2141, D2221).
X-axis
HW
LW
D1823 D1822
A-axis
HW
LW
D2063 D2062
Y-axis
HW
LW
D1903 D1902
B-axis
HW
LW
D2143 D2142
Z-axis
HW
LW
D1983
D1982
C-axis
HW
LW
D2223
D2222
Maximum speed (VMAX) at which the axis
specified rotates
[Description]
1. Users can set the maximum speed of motion. The value in (D1823, D1822) ((D1903, D1902), (D1983,
D1982), (D2063, D2062), (D2143, D2142), (D2223, D2222)) is in the range of 0 to 2,147,483,647. (The
unit used is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216).)
2. The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS. If the value in
(D1823, D1822) ((D1903, D1902), (D1983, D1982), (D2063, D2062), (D2143, D2142), (D2223, D2222))
is greater than 500K, the frequency of pulses generated will be 500K PPS. If the value in (D1823,
D1822) ((D1903, D1902), (D1983, D1982), (D2063, D2062), (D2143, D2142), (D2223, D2222)) is less
than 10, the frequency of pulses generated will be 10 PPS.
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X-axis
HW
LW
D1825 D1824
A-axis
HW
LW
D2065 D2064
Y-axis
HW
LW
D1905 D1904
B-axis
HW
LW
D2145 D2144
Z-axis
HW
LW
D1985
D1984
C-axis
HW
LW
D2225
D2224
Start-up speed (VBIAS) at which the axis specified
rotates
[Description]
1. Users can set the start-up speed of motion. The value in (D1825, D1824) ((D1905, D1904), (D1985,
D1984), (D2065, D2064), (D2145, D2144), (D2225, D2224)) is in the range of 0 to 2,147,483,647. (The
unit used is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216).)
2. The frequency of pulses generated by motion is in the range of 0 PPS to 500K PPS. If the value in
(D1825, D1824) ((D1905, D1904), (D1985, D1984), (D2065, D2064), (D2145, D2144), (D2225, D2224))
is greater than 500K, the frequency of pulses generated will be 500K PPS. If the value in (D1825,
D1824) ((D1905, D1904), (D1985, D1984), (D2065, D2064), (D2145, D2144), (D2225, D2224)) is less
than 0, the frequency of pulses generated will be 0 PPS.
3. If a stepper motor system is used, the start-up speed that users set must be greater than the motor
resonance frequency generated.
X-axis
HW
LW
D1827 D1826
A-axis
HW
LW
D2067 D2066
Y-axis
HW
LW
D1907 D1906
B-axis
HW
LW
D2147 D2146
Z-axis
HW
LW
D1987
D1986
C-axis
HW
LW
D2227
D2226
JOG speed (VJOG) at which the axis specified
rotates
[Description]
1. Users can set the JOG speed (VJOG) at which the axis specified rotates. The value in (D1827, D1826)
((D1907, D1906), (D1987, D1986), (D2067, D2066), (D2147, D2146), (D2227, D2226)) is in the range
of 0 to 2,147,483,647. (The unit used is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056,
D2136, D2216).
2. The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS. If the value in
(D1827, D1826) ((D1907, D1906), (D1987, D1986), (D2067, D2066), (D2147, D2146), (D2227, D2226))
is greater than 500K, the frequency of pulses generated will be 500K PPS. If the value in (D1827,
D1826) ((D1907, D1906), (D1987, D1986), (D2067, D2066), (D2147, D2146), (D2227, D2226)) is less
than 10, the frequency of pulses generated will be 10 PPS.
3. VMAX>VJOG>VBIAS
If the VJOG set is greater than the VMAX set, the actual VJOG will be equal to the VMAX.
If the VJOG set is less than the VBIAS set, the actual VJOG will be equal to the VBIAS, and an error will occur.
4. When an axis operates, users can not modify the JOG speed of the axis.
Vel oc ity
V MAX
V JOG
V BIAS
TA
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3 Devices
X-axis
HW
LW
D1829 D1828
A-axis
HW
LW
D2069 D2068
Y-axis
HW
LW
D1909 D1908
B-axis
HW
LW
D2149 D2148
Z-axis
HW
LW
D1989
D1988
C-axis
HW
LW
D2229
D2228
Speed (VRT) at which the axis specified returns
home
[Description]
1. Users can set the speed at which the axis specified returns home. The value in (D1829, D1828)
((D1909, D1908), (D1989, D1988), (D2069, D2068), (D2149, D2148), (D2229, D2228)) is in the range
of 1 to 2,147,483,647. (The unit used is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056,
D2136, D2216).)
2. The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS. If the value in
(D1829, D1828) ((D1909, D1908), (D1989, D1988), (D2069, D2068), (D2149, D2148), (D2229, D2228))
is greater than 500K, the frequency of pulses generated will be 500K PPS. If the value in (D1829,
D1828) ((D1909, D1908), (D1989, D1988), (D2069, D2068), (D2149, D2148), (D2229, D2228)) is less
than 10, the frequency of pulses generated will be 10 PPS.
3. VMAX>VRT>VBIAS
4. When an axis returns home, the speed at which the axis returns home can not be changed.
X-axis
HW
LW
D1831 D1830
A-axis
HW
LW
D2071 D2070
Y-axis
HW
LW
D1911 D1910
B-axis
HW
LW
D2151 D2150
Z-axis
HW
LW
D1991
D1990
C-axis
HW
LW
D2231
D2230
Speed (VCR) to which the speed of the axis
specified decreases when the axis returns home
[Description]
1. The value in (D1831, D1830) ((D1911, D1910), (D1991, D1990), (D2071, D2070), (D2151, D2150),
(D2231, D2230)) is in the range of 1 to 2,147,483,647. (The unit used is determined by bit 0 and bit 1 in
D1816 (D1896, D1976, D2056, D2136, D2216).
2. The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS. If the value in
(D1831, D1830) ((D1911, D1910), (D1991, D1990), (D2071, D2070), (D2151, D2150), (D2231, D2230))
is greater than 500K, the frequency of pulses generated will be 500K PPS. If the value in (D1831,
D1830) ((D1911, D1910), (D1991, D1990), (D2071, D2070), (D2151, D2150), (D2231, D2230)) is less
than 10, the frequency of pulses generated will be 10 PPS.
3. When motion of returning home is executed, the speed of the motor used is the VRT set. When there is
a transition in DOG’s signal from low to high or from high to low, the speed of the motor used decreases
to the VCR set.
4. In order for the axis specified to returns home precisely, it is suggested that the VCR set should be a low
speed.
5. When the motion of returning home is executed, the VCR set can not be changed.
X-axis
HW
LW
D1832
A-axis
HW
LW
D2072
Y-axis
HW
LW
D1912
B-axis
HW
LW
D2152
Z-axis
LW
D1992
C-axis
HW
LW
D2232
HW
Number of PG0 pulses for the axis specified
[Description]
1. The value in D1832 (D1912, D1992, D2072, D2152, D2232) is in the range of -32,768 to 32,767. If the
value in D1832 (D1912, D1992, D2072, D2152, D2232) is a positive value, the axis specified will move
in the direction in which it returns home. If the value in D1832 (D1912, D1992, D2072, D2152, D2232)
is a negative value, the axis specified will move in the direction which is opposite to the direction in
which it returns home.
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3 Devices
2. Please refer to the descriptions of bit 9 and bit10 in D1816 (D1896, D1976, D2056, D2136, D2216) for
more information about decelerating and stopping the motor used.
X-axis
HW
LW
D1833
A-axis
HW
LW
D2073
Y-axis
HW
LW
D1913
B-axis
HW
LW
D2153
Z-axis
LW
D1993
C-axis
HW
LW
D2233
HW
Supplementary pulses for the axis specified
[Description]
1. The value in D1833 (D1913, DD1993, D2073, D2153, D2233) is in the range of -32,768 to 32,767. If
the value in D1833 (D1913, DD1993, D2073, D2153, D2233) is a positive value, the axis specified will
move in the direction in which it returns home. If the value in D1833 (D1913, DD1993, D2073, D2153,
D2233) is a negative value, the axis specified will move in the direction which is opposite to the
direction in which it returns home.
2. Please refer to the descriptions of bit 9 and bit10 in D1816 (D1896, D1976, D2056, D2136, D2216) for
more information about decelerating and stopping the motor used.
X-axis
HW
LW
D1835 D1834
A-axis
HW
LW
D2075 D2074
Y-axis
HW
LW
D1915 D1914
B-axis
HW
LW
D2155 D2154
Z-axis
HW
LW
D1995
D1994
C-axis
HW
LW
D2235
D2234
Home position of the axis specified
[Description]
1. The value in (D1835, D1834) ((D1915, D1914), (D1995, D1994), (D2075, D2074), (D2155, D2154),
(D2235, D2234)) is in the range of 0 to ±999,999. (The unit used is determined by bit 0 and bit 1 in
D1816 (D1896, D1976, D2056, D2136, D2216).
2. After the axis specified returns home, the value in (D1835, D1834) ((D1915, D1914), (D1995, D1994),
(D2075, D2074), (D2155, D2154), (D2235, D2234)) will be written into (D1849, D1848) ((D1929,
D1928), (D2009, D2008), (D2089, D2088), (D2169, D2168), (D2249, D2248)).
X-axis
HW
LW
D1836
A-axis
HW
LW
D2076
Y-axis
HW
LW
D1916
B-axis
HW
LW
D2156
Z-axis
LW
D1996
C-axis
HW
LW
D2236
HW
Time (TACC) it takes for the axis specified to
accelerate
[Description]
1. Users can set the times it takes for the speed of the axis specified to increase from its start-up speed to
its maximum speed. The value in D1836 (D1916, D1996, D2076, D2156, D2236) is in the range of 0 to
32,767. A millisecond is a unit.
2. If the value in D1836 (D1916, D1996, D2076, D2156, D2236) is less than 10, it will be counted as 10. If
the value in D1836 (D1916, D1996, D2076, D2156, D2236) is greater than 32,767, it will be counted as
32,767.
3. If users want to have a complete S curve, the maximum speed which is set must be the same as the
speed at which the axis specified operates.
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X-axis
HW
LW
D1837
A-axis
HW
LW
D2077
Y-axis
HW
LW
D1917
B-axis
HW
LW
D2157
Z-axis
LW
D1997
C-axis
HW
LW
D2237
HW
Time (TDEC) it takes for the axis specified to
decelerate
[Description]
1. Users can set the times it takes for the speed of the axis specified to decrease from its maximum speed
to its start-up speed. The value in D1837 (D1917, D1997, D2077, D2157, D2237) is in the range of 0 to
32,767. A millisecond is a unit.
2. If the value in D1837 (D1917, D1997, D2077, D2157, D2237) is less than 10, it will be counted as 10. If
the value in D1837 (D1917, D1997, D2077, D2157, D2237) is greater than 32,767, it will be counted as
32,767.
3. If users want to have a complete S curve, the maximum speed which is set must be the same as the
speed at which the axis specified operates.
X-axis
HW
LW
D1839 D1838
A-axis
HW
LW
D2079 D2078
Y-axis
HW
LW
D1919 D1918
B-axis
HW
LW
D2159 D2158
Z-axis
HW
LW
D1999
D1998
C-axis
HW
LW
D2239
D2238
Target position of the axis specified (P (I))
[Description]
1. The value in (D1839, D1838) ((D1919, D1918), (D1999, D1998), (D2079, D2078), (D2159, D2158),
(D2239, D2238)) is in the range of -2,147,483,648 to +2,147,483,647. (The unit used is determined by
bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216).)
2. Target position (P (I))
 Absolute coordinates: Bit 12 in D1816 (D1896, D1976, D2056, D2136, D2216) is 0.
The target position of the axis specified indicates a distance from 0. If the target position of an axis
is greater than its present command position, the motor used will rotate clockwise. If the target
position of an axis is less than its present command position, the motor used will rotate
counterclockwise.
 Relative coordinates: Bit 12 in D1816 (D1896, D1976, D2056, D2136, D2216) is 1.
The target position of an axis indicates a distance from its present command position. If the target
position specified is a positive value, the motor used will rotate clockwise. If the target position
specified is a negative value, the motor used will rotate counterclockwise.
3. The ratio used is determined by bit 2 and bit 3 in D1816 (D1896, D1976, D2056, D2136, D2216).
X-axis
HW
LW
D1841 D1840
A-axis
HW
LW
D2081 D2080
Y-axis
HW
LW
D1921 D1920
B-axis
HW
LW
D2161 D2160
Z-axis
HW
LW
D2001
D2000
C-axis
HW
LW
D2241
D2240
Speed at which the axis specified rotates (V (I))
[Description]
1. The value in (D1841, D1840) ((D1921, D1920), (D2001, D2000), (D2081, D2080), (D2161, D2160),
(D2241, D2240)) is in the range of -2,147,483,647 to +2,147,483,647. (The unit used is determined by
bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216).)
2. The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS. If the value in
(D1841, D1840) ((D1921, D1920), (D2001, D2000), (D2081, D2080), (D2161, D2160), (D2241, D2240))
is greater than 500K, the frequency of pulses generated will be 500K PPS. If the value in (D1841,
D1840) ((D1921, D1920), (D2001, D2000), (D2081, D2080), (D2161, D2160), (D2241, D2240)) is less
than 10, the frequency of pulses generated will be 10 PPS.
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3. VMAX＞V (I)＞VBIAS
4. When bit 4 in D1846 (D1926, D2006, D2086, D2166, D2246) is ON, the speed at which the axis
specified rotates (V (I)) can be changed. If the Speed at which the axis specified rotates is a positive
value, the motor used will rotate clockwise. If the Speed at which the axis specified rotates is a negative
value, the motor used will rotate counterclockwise.
X-axis
HW
LW
D1843 D1842
A-axis
HW
LW
D2083 D2082
Y-axis
HW
LW
D1923 D1922
B-axis
HW
LW
D2163 D2162
Z-axis
HW
LW
D2003
D2002
C-axis
HW
LW
D2243
D2242
Target position of the axis specified (P (II))
[Description]
1. The value in (D1843, D1842) ((D1923, D1922), (D2003, D2002), (D2083, D2082), (D2163, D2162),
(D2243, D2242)) is in the range of -2,147,483,648 to +2,147,483,647. (The unit used is determined by
bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216).)
2. Target position (P (II))
 Absolute coordinates: Bit 12 in (D1816 (D1896, D1976, D2056, D2136, D2216) is 0.
The target position of the axis specified indicates a distance from 0. If the target position of an axis
is greater than its present command position, the motor used will rotate clockwise. If the target
position of an axis is less than its present command position, the motor used will rotate
counterclockwise.
 Relative coordinates: Bit 12 in (D1816 (D1896, D1976, D2056, D2136, D2216) is 1.
The target position of an axis indicates a distance from its present command position. If the target
position specified is a positive value, the motor used will rotate clockwise. If the target position
specified is a negative value, the motor used will rotate counterclockwise.
3. The ratio used is determined by bit 2 and bit 3 in D1816 (D1896, D1976, D2056, D2136, D2216).
X-axis
HW
LW
D1845 D1844
A-axis
HW
LW
D2085 D2084
Y-axis
HW
LW
D1925 D1924
B-axis
HW
LW
D2165 D2164
Z-axis
HW
LW
D2005
D2004
C-axis
HW
LW
D2245
D2244
Speed at which the axis specified rotates(V (II))
[Description]
1. The value in (D1845, D1844) ((D1925, D1924), (D2005, D2004), (D2085, D2084), (D2165, D2164),
(D2245, D2244)) is in the range of 0 to 2,147,483,647. (The unit used is determined by bit 0 and bit 1 in
D1816 (D1896, D1976, D2056, D2136, D2216).)
2. The frequency of pulses generated by motion is in the range of 10 PPS to 500K PPS. If the value in
(D1845, D1844) ((D1925, D1924), (D2005, D2004), (D2085, D2084), (D2165, D2164), (D2245, D2244))
is greater than 500K, the frequency of pulses generated will be 500K PPS. If the value in (D1845,
D1844) ((D1925, D1924), (D2005, D2004), (D2085, D2084), (D2165, D2164), (D2245, D2244)) is less
than 10, the frequency of pulses generated will be 10 PPS.
3. VMAX＞V (II)＞VBIAS
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X-axis
HW
LW
D1846
A-axis
HW
LW
D2086
Y-axis
HW
LW
D1926
B-axis
HW
LW
D2166
Z-axis
LW
D2006
C-axis
HW
LW
D2246
HW
Operation command
[Description]
1. Bit 0 in D1846 (D1926, D2006, D2086, D2166, D2246): The motion of the axis specified is stopped by
software.
 The motion of the axis specified is stopped by software when bit 0 in D1846 (D1926, D2006, D2086,
D2166, D2246) is turned from OFF to ON.
2. Bit 1 in D1846 (D1926, D2006, D2086, D2166, D2246): The motion of the axis specified is started by
software.
 The motion of the axis specified is started by software when bit 1 in D1846 (D1926, D2006, D2086,
D2166, D2246) is turned from OFF to ON.
3. Bit 2 in D1846 (D1926, D2006, D2086, D2166, D2246): The axis specified operates in a JOG+ mode.
 When bit 2 in D1846 (D1926, D2006, D2086, D2166, D2246), clockwise pulses are generated at
the JOG speed set.
 If bit 6 in D1816 (D1896, D1976, D2056, D2136, D2216) is ON, and bit 2 in D1846 (D1926, D2006,
D2086, D2166, D2246) is ON, PWM will be executed.
4. Bit 3 in D1846 (D1926, D2006, D2086, D2166, D2246): The axis specified operates in a JOG- mode.
 When bit 3 in D1846 (D1926, D2006, D2086, D2166, D2246) is ON, counterclockwise pulses are
generated at the JOG speed set.
5. Bit 4 in D1846 (D1926, D2006, D2086, D2166, D2246): A mode of variable motion is activated.
 After bit 4 in D1846 (D1926, D2006, D2086, D2166, D2246) is set to 1, the DVP-10PM series
motion controller will execute variable motion, and it will send pulses by a pulse generator.
 After a mode of variable motion is activated, the VBIAS of the axis specified will increase to its V (I).
When the axis operates, users can change its V (I) at will. The DVP-10PM series motion controller
accelerates or decelerates according to the V (I) set.
 Users can stop variable motion by setting bit 0 in D1846 (D1926, D2006, D2086, D2166, D2246) to
1, or by setting bit 4 in D1846 (D1926, D2006, D2086, D2166, D2246) to 0.
 Diagram
Speed
T ACC
T DEC
V MAX
V(I)
V BIAS
Time
Start
Stop
6. Bit 5 in D1846 (D1926, D2006, D2086, D2166, D2246): A manual pulse generator is operated.
 If bit 5 in D1846 (D1926, D2006, D2086, D2166, D2246) is set to ON, a manual pulse generator
mode will be activated. Please refer to the descriptions of D1858~D1864 (D1938~D1944,
D2018~D2024, D2098~D2104, D2178~D2184, D2258~D2264) for more information.
7. Bit 6 in D1846 (D1926, D2006, D2086, D2166, D2246): A mode of triggering the return to home is
activated.
 When bit 6 in D1846 (D1926, D2006, D2086, D2166, D2246) is turned from OFF to ON, a mode of
triggering the return to home is activated. The mode of triggering the return to home varies with the
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DVP-10PM Application Manual
3 Devices
present command position of the axis specified. There are two situations.
Direction in which the axis
specified returns home
D OG
Limit s wi tc h
Limit s wi tc h
L SP
L SN
[2 ]
Home
[1 ]
Position (1): Position [1] is at the right side of the home and DOG, and DOG is OFF.
Position (2): Position [2] is at the right side of the home, and DOG is ON.
*: Position (2) does not support the B-axis and the C-axis.
8. Bit 8 in D1846 (D1926, D2006, D2086, D2166, D2246): A mode of single-speed motion is activated.
 After bit 8 in D1846 (D1926, D2006, D2086, D2166, D2246) is set to 1, a mode of single-speed
motion will be activated. The target position of the single-speed motion and the speed of the
single-speed motion depend on the P (I) and the V (I) which are set by users, and the DVP-10PM
series motion controller sends pulses by a pulse generator.
 If relative single-speed motion is activated, the sign bit of the P (I) set by users will determine the
direction of the relative single-speed motion.
 Absolute single-speed motion: If the target position of the axis specified is greater than its present
command position, the motor used will rotate clockwise. If the target position of the axis specified is
less than its present command position, the motor used will rotate counterclockwise.
 After single-speed motion is activated, the speed of the absolute single-speed motion will increase
from the VBIAS set to the V (I) set. The speed of the absolute single-speed motion will not decrease
from the V (I) set to the VBIAS set until the number of pulses output is near the P (I) set.
 VBIAS: D1824 (D1904, D1984, D2054, D2134, D2214); V (I): D1840 (D1920, D2000, D2080, D2160,
D2240); VMAX: D1822 (D1902, D1982, D2062, D2142, D2222); P (I): D1838 (D1918, D1998, D2078,
D2158, D2238); TACC: D1836 (D1916, D1996, D2076, D2156, D2236); TDEC: D1837 (D1917, D1997,
D2077, D2157, D2237)
Speed
T DE C
T ACC
V MAX
V(I)
P(I)
V BIAS
Time
Start
 If bit 6 in D1816 (D1896, D1976, D2056, D2136, D2216) is ON, and bit 8 in D1846 (D1926, D2006,
D2086, D2166, D2246) is ON, Y0~Y3 will execute PWM.
9. Bit 9 in D1846 (D1926, D2006, D2086, D2166, D2246): A mode of inserting single-speed motion is
activated.
 After bit 9 in D1846 (D1926, D2006, D2086, D2166, D2246) is set to 1, a mode of inserting
single-speed motion will be activated, and the DVP-10PM series motion controller will send pulses
by a pulse generator. After DOG’s signal goes from low to high or from high to low, the axis
specified will move to the target position indicated by the P (I) set.
 If relative single-speed motion is activated, the sign bit of the P (I) set by users will determine the
direction of the relative single-speed motion.
 Absolute single-speed motion: If the target position of the axis specified is greater than its present
command position, the motor used will rotate clockwise. If the target position of the axis specified is
DVP-10PM Application Manual
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3 Devices
less than its present command position, the motor used will rotate counterclockwise.
 The speed of motion will increase from the VBIAS set to the V (I) set. After DOG’s signal goes from
low to high or from high to low, the DVP-10PM series motion controller used will continue sending
pulses. The speed of the motion will not decrease from the V (I) set to the VBIAS set until the number
of pulses output is near the P (I) set.
 VBIAS: D1824 (D1904, D1984, D2054, D2134, D2214); V (I): D1840 (D1920, D2000, D2080, D2160,
D2240); VMAX: D1822 (D1902, D1982, D2062, D2142, D2222); P (I): D1838 (D1918, D1998, D2078,
D2158, D2238); TACC: D1836 (D1916, D1996, D2076, D2156, D2236); TDEC: D1837 (D1917, D1997,
D2077, D2157, D2237)
Speed
T DEC
T ACC
V MAX
V(I)
P(I)
V BIAS
Time
Start
DOG
10. Bit 10 in D1846 (D1926, D2006, D2086, D2166, D2246): A mode of two-speed motion is activated.
 After bit 10 in D1846 (D1926, D2006, D2086, D2166, D2246) is set to 1, a mode of two-speed
motion will be activated. The axis specified moves at the V (I) set. After it moves to the P (I) set, it
will move to the P (II) set at the V (II) set.
 Relative coordinates: The sign bit of the P (I) set by users determines the direction of motion. If the
P (I) specified is a positive value, the motor used will rotate clockwise. If the P (I) specified is a
negative value, the motor used will rotate counterclockwise.
 Absolute coordinates: If the target position (P (I)) of an axis is greater than its present command
position, the motor used will rotate clockwise. If the target position (P (I)) of an axis is less than its
present command position, the motor used will rotate counterclockwise.
 After motion is started, the speed of the motion will increase from the VBIAS set to the V (I) set. The
speed of the motion will not increase/decrease from the V (I) set to the V (II) set until the number of
pulses output is near the P (I) set. The speed of the motion will not decrease from the V (II) to the
VBIAS set until the present command position of the axis specified is near the P (II) set.
11. VBIAS: D1824 (D1904, D1984, D2054, D2134, D2214); V (I): D1840 (D1920, D2000, D2080, D2160,
D2240); V (II): D1844 (D1924, D2004, D2084, D2164, D2244); VMAX: D1822 (D1902, D1982, D2062,
D2142, D2222); P (I): D1838 (D1918, D1998, D2078, D2158, D2238); P (II): D1842 (D1922, D2002,
D2082, D2162, D2242); TACC: D1836 (D1916, D1996, D2076, D2156, D2236); TDEC: D1837 (D1917,
D1997, D2077, D2157, D2237)
Speed
T DEC
T ACC
V MAX
P(I)
V(I)
P(II)
V(II)
V BIAS
Time
Start
12. Bit 11 in D1846 (D1926, D2006, D2086, D2166, D2246): A mode of inserting two-speed motion is
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DVP-10PM Application Manual
3 Devices
activated.
 After bit 11 in D1846 (D1926, D2006, D2086, D2166, D2246) is set to 1, a mode of inserting
two-speed motion will be activated. The axis specified moves at the V (I) set. After DOG’s signal
goes from low to high or from high to low, the axis will move to the target position indicated by the P
(II) set at the V (II) set.
 Relative coordinates: The sign bit of the P (I) set by users determines the direction of motion.
 Absolute coordinates: If the target position (P (I)) of an axis is greater than its present command
position, the motor used will rotate clockwise. If the target position (P (I)) of an axis is less than its
present command position, the motor used will rotate counterclockwise.
 After motion is started, the speed of the motion will increase from the VBIAS set to the V (I) set. After
DOG’s signal goes from low to high or from high to low, the speed of the motion will
increase/decrease from the V (I) set to the V (II) set.
 VBIAS: D1824 (D1904, D1984, D2054, D2134, D2214); V (I): D1840 (D1920, D2000, D2080, D2160,
D2240); V (II): D1844 (D1924, D2004, D2084, D2164, D2244); VMAX: D1822 (D1902, D1982,
D2062, D2142, D2222); P (I): D1838 (D1918, D1998, D2078, D2158, D2238); P (II): D1842 (D1922,
D2002, D2082, D2162, D2242); TACC: D1836 (D1916, D1996, D2076, D2156, D2236); TDEC: D1837
(D1917, D1997, D2077, D2157, D2237)
Speed
T DEC
T ACC
V MAX
V(I)
P(II)
V(II)
V BIAS
Time
Start
DOG
13. Bit 12 inD1846 (D1926, D2006, D2086, D2166, D2246): The execution of the Ox motion subroutine set
starts.
 Bit 12=1: The execution of the Ox motion subroutine set starts.
 Bit 12=0: The execution of the Ox motion subroutine set stops.
X-axis
HW
LW
D1847
A-axis
HW
LW
D2087
Y-axis
HW
LW
D1927
B-axis
HW
LW
D2167
Z-axis
HW
LW
D2007
C-axis
HW
LW
D2247
Mode of operation
[Description]
1. Bit 2 in D1847 (D1927, D2007, D2087, D2167, D2247): Mode of sending a CLR signal
 Bit 2=0: After the axis specified returns home, the CLR output will send a 130 millisecond signal to
the servo drive used, and the present position of the servo drive which is stored in a register in the
servo drive will be cleared.
 Bit 2=1: The CLR output functions as a general output. Its state is determined by bit 3 in D1847
(D1927, D2007, D2087, D2167, D2247).
2. Bit 3 in D1847 (D1927, D2007, D2087, D2167, D2247): Setting the CLR output to ON/OFF
 Bit 3=0: The CLR output is OFF.
 Bit 3=1: The CLR output is ON.
3. Bit 4 in D1847 (D1927, D2007, D2087, D2167, D2247): Setting the polarity of the CLR output
 Bit 4=0: The CLR output is a Form A contact.
 Bit 4=1: The CLR output is a Form B contact.
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3 Devices
4. Bit 6 in D1847 (D1927, D2007, D2087, D2167, D2247): Limitation on the present position of the slave
axis controlled by the manual pulse generator used
 Bit 6=0: There is no limitation on the present position of the slave axis controlled by the manual
pulse generator used.
 Bit 6=1: The present position of the slave axis controlled by the manual pulse generator used has to
be in the range of the P (I) set to the P (II) set. If the present position of the slave axis controlled by
the manual pulse generator used is not in the range of the P (I) set to the P (II) set, the slave axis
will decelerate and stop.
5. Bit 7 in D1847 (D1927, D2007, D2087, D2167, D2247): Mode of stopping the motor used when the
motor used comes into contact with a positive limit switch/negative limit switch
 Bit 7=0: If the motor used comes into contact with a positive limit switch/negative limit switch when it
rotates, it will decelerate and stop.
 Bit 7=1: If the motor used comes into contact with a positive limit switch/negative limit switch when it
rotates, it will stop immediately.
6. Bit 15 in D1847 (D1927, D2007, D2087, D2167, D2247): Restoring the DVP-10PM series motion
controller to the factory settings
 Bit 15=1: The values of parameters are restored to factory settings.
X-axis
HW
LW
D1849 D1848
A-axis
HW
LW
D2089 D2088
Y-axis
HW
LW
D1929 D1928
B-axis
HW
LW
D2169 D2168
Z-axis
HW
LW
D2009
D2008
C-axis
HW
LW
D2249
D2248
Present command position of the axis specified
(Pulse)
[Description]
1. The value in (D1849, D1848) ((D1929, D1928), (D2009, D2008), (D2089, D2088), (D2169, D2168),
(D2249, D2248)) is in the range of -2,147,483,648 to +2,147,483,647.
2. The present command position of the axis specified is indicated by the number of pulses. The unit used
is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216). After the axis
specified returns home, the value in (D1835, D1834) ((D1915, D1914), (D1995, D1994), (D2075,
D2074, (D2155, D2154), (D2235, D2234)) will be written into (D1849, D1848) ((D1929, D1928),
(D2009, D2008), (D2089, D2088), (D2169, D2168), (D2249, D2248)).
X-axis
HW
LW
D1851 D1850
A-axis
HW
LW
D2091 D2090
Y-axis
HW
LW
D1931 D1930
B-axis
HW
LW
D2171 D2170
Z-axis
HW
LW
D2011
D2010
C-axis
HW
LW
D2251
D2250
Present command speed of the axis specified
(PPS)
[Description]
1. The value in (D1851, D1850) ((D1931, D1930), (D2011, D2010), (D2091, D2090), (D2171, D2170),
(D2251, D2250)) is in the range of 0 to 2,147,483,647.
2. The present command speed of the axis specified is indicated by the number of pulses.
X-axis
HW
LW
D1853 D1852
A-axis
HW
LW
D2093 D2092
Y-axis
HW
LW
D1933 D1932
B-axis
HW
LW
D2173 D2172
Z-axis
HW
LW
D2013
D2012
C-axis
HW
LW
D2253
D2252
Present command position of the axis specified
(Unit)
[Description]
1. The value in (D1853, D1852) ((D1933, D1932), (D2013, D2012), (D2093, D2092), (D2173, D2172),
3-64
DVP-10PM Application Manual
3 Devices
(D2253, D2252)) is in the range of -2,147,483,648 to +2,147,483,647.
2. The unit used is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216). After
the axis specified returns home, the value in (D1835, D1834) ((D1915, D1914), (D1995, D1994),
(D2075, D2074, (D2155, D2154), (D2235, D2234)) will be written into (D1853, D1852) ((D1933,
D1932), (D2013, D2012), (D2093, D2092), (D2173, D2172), (D2253, D2252)).
X-axis
HW
LW
D1855 D1854
A-axis
HW
LW
D2095 D2094
Y-axis
HW
LW
D1935 D1934
B-axis
HW
LW
D2175 D2174
Z-axis
HW
LW
D2015
D2014
C-axis
HW
LW
D2255
D2254
Present command speed of the axis specified
(Unit)
[Description]
1. The value in (D1855, D1854) ((D1935, D1934), (D2015, D2014), (D2095, D2094), (D2175, D2174),
(D2255, D2254)) is in the range of 0 to 2,147,483,647.
2. The unit used is determined by bit 0 and bit 1 in D1816 (D1896, D1976, D2056, D2136, D2216).
X-axis
HW
LW
D1856
A-axis
HW
LW
D2096
Y-axis
HW
LW
D1936
B-axis
HW
LW
D2176
Z-axis
HW
LW
D2016
C-axis
HW
LW
D2256
State of the axis specified
[Description]
Bit#
D1856 (D1936, D2016…)
0
Positive-going pulses are being output.
1
Negative-going pulses are being output.
2
The axis specified is operating.
An error occurs.
3
4
5
6
7
The axis specified pauses.
The manual pulse generator used
generates positive-going pulses.
The manual pulse generator used
generates negative-going pulses.
Undefined
X-axis
HW
LW
D1857
A-axis
HW
LW
D2097
Y-axis
HW
LW
D1937
B-axis
HW
LW
D2177
Z-axis
HW
LW
D2017
C-axis
HW
LW
D2257
Axis error code
[Description]
Please refer to chapter 11 for more information.
DVP-10PM Application Manual
3-65
3 Devices
X-axis
HW
LW
D1858
D1859
A-axis
HW
LW
D2098
D2099
Y-axis
HW
LW
D1938
D1939
B-axis
HW
LW
D2178
D2179
Z-axis
LW
D2018
D2019
C-axis
HW
LW
D2258
D2259
Electronic gear ratio
HW
Electronic gear ratio (Numerator)
Electronic gear ratio (Denominator)
Electronic gear ratio
Electronic gear ratio (Numerator)
Electronic gear ratio (Denominator)
[Description]
1. If bit 5 in D1846 (D1926, D2006, D2086, D2166, D2246) is set to ON, a manual pulse generator mode
will be activated.
2. A manual pulse generator generates A/B-phase pulses that are sent to the input terminals X10± and
X11±. The relation between the position of the axis specified and the input pulses generated by the
manual pulses used is shown below.
Serv o dri ve
D 18 58 (D1 93 8 ,...)
D 18 59 (D1 93 9 ,...)
A phase
F requenc y of input pulses X
B phas e
= Fr equency of output pulses
FP
Serv o motor
RP
If a positive limit switch or a negative limit switch is enabled when a manual pulse generator is operated,
the generation of pulses will stop. If a positive limit switch is enabled, positive-going pulses will be
inhibited, and negative-going will be allowed. If a negative limit switch is enabled, negative-going
pulses will be inhibited, and positive-going switch will be allowed.
3. The speed output is determined by the frequency of input pulses generated by a manual pulse
generator and an electronic gear ratio.
X-axis
HW
LW
D1861 D1860
A-axis
HW
LW
D2101 D2100
Y-axis
HW
LW
D1941 D1940
B-axis
HW
LW
D2181 D2180
Z-axis
HW
LW
D2021
D2020
C-axis
HW
LW
D2261
D2260
Frequency of pulses generated by the manual
pulse generator for the axis specified
[Description]
1. The value in (D1861, D1860) ((D1941, D1940), (D2021, D2020), (D2101, D2100), (D2181, D2180),
(D2261, D2260)) indicates the frequency of pulses generated by the manual pulse generator for the
axis specified. It does not vary with the values in D1858 (D1938, D2018, D2098, D2178, D2258) and
D1859 (D1939, D2019, 2099, D2179, D2259).
X-axis
HW
LW
D1863 D1862
A-axis
HW
LW
D2103 D2102
Y-axis
HW
LW
D1943 D1942
B-axis
HW
LW
D2183 D2182
Z-axis
HW
LW
D2023
D2022 Number of pulses generated by the manual pulse
generator for the axis specified
C-axis
HW
LW
D2263
D2262
[Description]
1. The value in (D1863, D1862) ((D1943, D1942), (D2023, D2022), (D2103, D2102), (D2183, D2182),
(D2263, D2262)) indicates the number of pulses generated by the manual pulse generator for the axis
specified. If the pulses generated by the manual pulse generator for the axis specified are clockwise
pulses, the value in (D1863, D1862) ((D1943, D1942), (D2023, D2022), (D2103, D2102), (D2183,
D2182), (D2263, D2262)) will increase. If the pulses generated by the manual pulse generator for the
axis specified are counterclockwise pulses, the value in (D1863, D1862) ((D1943, D1942), (D2023,
D2022), (D2103, D2102), (D2183, D2182), (D2263, D2262)) will decrease.
3-66
DVP-10PM Application Manual
3 Devices
2. The value in (D1863, D1862) ((D1943, D1942), (D2023, D2022), (D2103, D2102), (D2183, D2182),
(D2263, D2262)) does not vary with the values in D1858 (D1938, D2018, D2098, D2178, D2258) and
D1859 (D1939, D2019, 2099, D2179, D2259).
X-axis
HW
LW
D1864
A-axis
HW
LW
D2104
Y-axis
HW
LW
D1944
B-axis
HW
LW
D2184
Z-axis
HW
LW
D2024
C-axis
HW
LW
D2264
Response speed of the manual pulse generator
for the axis specified
[Description]
1. If the response speed set is high, the pulses output happen almost at the same time as the pulses input
by the manual pulse generator used.
2. If the response speed set is low, the pulses output follows the pulses input by the manual pulse
generator used.
Setting value
≧5
Response speed
4 ms (Initial value)
4
3
2
1 or 0
32 ms
108 ms
256 ms
500 ms
3. Bit 8 and bit 9 in D1864 (D1944, D2024, D2104, D2184, D2264): Setting the input pulses generated by
the manual pulse generator specified
b9
b8
0
0
Input type (positive logic)
Description
FP Clo ckwise pu lse s
Counting up/down
RP Cou nte rcl ockwi se p ul ses
FP Pu lse s
0
Pulses+Directions
1
RP Di re ctio n s
1
0
1
1
Cl ockwi se
Co un ter clo ckwise
A/B-phase pulses
FP A -p ha se p ul ses
RP B- ph ase pu lse s
DVP-10PM Application Manual
Cl ockwi se
Co un ter clo ckwise
Four times the
frequency of
A/B-phase pulses
3-67
3 Devices
3.12.2 Introduction of Modes of Motion
1. There are eight modes of motions.
1. Returning home
5. Two-speed motion
2. JOG motion
6. Inserting two-speed motion
3. Single-speed motion
7. Variable motion
4. Inserting single-speed motion
8. Manual pulse generator mode
2. If more than one mode of motion is activated, they will be executed in particular order.
1. Stopping the motion of the axis
6. Variable motion
specified by software
2. Returning home
7. Single-speed motion
3. Positive JOG motion
8. Inserting single-speed motion
4. Negative JOG motion
9. Two-speed motion
5. Manual pulse generator mode
10. Inserting two-speed motion
If a mode of motion is activated when another mode of motion is executed, the DVP-10PM series
motion controller will continue executing the original mode.
3. There are two types of acceleration curves.
1. Trapezoid curve
2. S curve
Veloci ty
b14=0
Trapezoid curv e
Vbias
Time
TA
3-68
TD
Velocity
b14=1
S curve
Vbias
Time
TA
TD
DVP-10PM Application Manual
3 Devices
3.12.3 Special Data Registers for Motion Axes
Mode of operation
Special data registers for motion axes
LW
HW
LW
HW
LW
D1819 D1818 D1899 D1898 D1979 D1978 D2059 D2058
D1821 D1820 D1901 D1900 D1981 D1980 D2061 D2060
-
D1816
-
D1896
-
D1976
-
D2056
D1823 D1822 D1903 D1902 D1983 D1982 D2063 D2062
D1825 D1824 D1905 D1904 D1985 D1984 D2065 D2064
D1827 D1826 D1907 D1906 D1987 D1986 D2067 D2066
D1829 D1828 D1909 D1908 D1989 D1988 D2069 D2068
D1831 D1830 D1911 D1910 D1991 D1990 D2071 D2070
-
D1832
-
D1912
-
D1992
-
D2072
-
D1833
-
D1913
-
D1993
-
D2073
D1835 D1834 D1915 D1914 D1995 D1994 D2075 D2074
-
D1836
-
D1916
-
D1996
-
D2076
-
D1837
-
D1917
-
D1997
-
D2077
D1839 D1838 D1919 D1918 D1999 D1998 D2079 D2078
D1841 D1840 D1921 D1920 D2001 D2000 D2081 D2080
D1843 D1842 D1923 D1922 D2003 D2002 D2083 D2082
D1845 D1844 D1925 D1924 D2005 D2004 D2085 D2084
-
D1846
-
D1926
-
DVP-10PM Application Manual
D2006
-
Number of pulses it
takes for the motor of the
axis specified to rotate
once (A)
Distance generated after
the motor of the axis
specified rotate once (B)
Setting the parameters
of the axis specified
Maximum speed (VMAX)
at which the axis
specified rotates
Start-up speed (VBIAS) at
which the axis specified
rotates
JOG speed (VJOG) at
which the axis specified
rotates
Speed (VRT) at which the
axis specified returns
home
Speed (VCR) to which the
speed of the axis
specified decreases
when the axis returns
home
Number of PG0 pulses
for the axis specified
Supplementary pulses
for the axis specified
Home position of the
axis specified
Time (TACC) it takes for
the axis specified to
accelerate
Time (TDEC) it takes for
the axis specified to
decelerate
Target position of the
axis specified (P (I))
Speed at which the axis
specified rotates (V (I))
Target position of the
axis specified (P (II))
Speed at which the axis
specified rotates (V (II))
D2086 Operation command
Manual pulse generator mode
HW
Variable motion
LW
Inserting two-speed motion
HW
Two-speed motion
Parameter
Inserting single-speed motion
A-axis
Single-speed motion
Z-axis
Returning home
Y-axis
JOG motion
X-axis
If the unit used is a motor unit, the
special data registers do not need to be
set.
If the unit used is a mechanical unit or a
compound unit, the special data registers
need to be set.
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
－
－
－
－
－
－
－
－
◎
－
－
－
－
－
－
◎
◎
◎
◎
◎
◎
◎
－
◎
◎
◎
◎
◎
◎
◎
－
－
－
◎
◎
◎
◎
－
◎
－
－
◎
◎
◎
◎
◎
－
－
－
－
－
◎
◎
－
◎
－
－
－
－
◎
◎
－
－
◎
◎
◎
◎
◎
◎
◎
◎
3-69
3 Devices
Mode of operation
Special data registers for motion axes
LW
HW
LW
HW
-
D1847
-
D1927
-
D2007
-
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
－
－
－
－
－
－
－
◎
－
－
－
－
－
－
－
◎
－
－
－
－
－
－
－
◎
－
－
－
－
－
－
－
◎
－
－
－
－
－
－
－
◎
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
◎
◎
◎
◎
◎
◎
◎
◎
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
－
LW
D2087 Mode of operation
Present command
D1849 D1848 D1929 D1928 D2009 D2008 D2089 D2088 position of the axis
specified (Pulse)
Present command
D1851 D1850 D1931 D1930 D2011 D2010 D2091 D2090 speed of the axis
specified (PPS)
Present command
D1853 D1852 D1933 D1932 D2013 D2012 D2093 D2092 position of the axis
specified (Unit)
Present command
D1855 D1854 D1935 D1934 D2015 D2014 D2095 D2094 speed of the axis
specified (Unit)
Electronic gear ratio of
D1858
D1938
D2018
D2098 the axis specified
(Numerator)
Electronic gear ratio of
D1859
D1939
D2019
D2099 the axis specified
(Denominator)
Frequency of pulses
generated by the manual
D1861 D1860 D1941 D1940 D2021 D2020 D2101 D2100
pulse generator for the
axis specified
Number of pulses
generated by the manual
D1863 D1862 D1943 D1942 D2023 D2022 D2103 D2102
pulse generator for the
axis specified
Response speed of the
D1864
D1944
D2024
D2104 manual pulse generator
for the axis specified
Mode of stopping
D1865
Ox0~Ox99
Electrical zero of the axis
D1867 D1866 D1947 D1946 D2027 D2026
specified
Setting an Ox motion
D1868
subroutine number
Step address in the Ox
motion subroutine at
D1869
which an error occurs
Enabling a Y device
when the Ox motion
D1872
subroutine is ready
Enabling a Y device
when an M-code in the
D1873
Ox motion subroutine is
executed
Using an X device to
D1874
reset the M-code
3-70
Manual pulse generator mode
HW
Variable motion
LW
Inserting two-speed motion
HW
Two-speed motion
Parameter
Inserting single-speed motion
A-axis
Single-speed motion
Z-axis
Returning home
Y-axis
JOG motion
X-axis
DVP-10PM Application Manual
3 Devices
Mode of operation
Special data registers for motion axes
-
LW
D1955
-
HW
LW
-
-
HW
Manual pulse generator mode
D1875
HW
Variable motion
LW
Inserting two-speed motion
HW
Two-speed motion
Parameter
Inserting single-speed motion
A-axis
Single-speed motion
Z-axis
Returning home
Y-axis
JOG motion
X-axis
◎
－
－
－
－
－
－
◎
LW
-
-
Starting the axis
specified manually
(ZRN, MPG, JOG-,
JOG+)
Mode of operation
Special data registers for motion axes
D2138
D2219
D2218
D2141
D2140
D2221
D2220
-
D2136
-
D2216
D2143
D2142
D2223
D2222
D2145
D2144
D2225
D2224
D2147
D2146
D2227
D2226
DVP-10PM Application Manual
Manual pulse generator mode
D2139
Number of pulses it
takes for the motor of the
axis specified to rotate
once
Distance generated after
the motor of the axis
specified rotate once
Setting the parameters
of the axis specified
Maximum speed (VMAX)
at which the axis
specified rotates
Start-up speed (VBIAS) at
which the axis specified
rotates
JOG speed (VJOG) at
which the axis specified
rotates
Variable motion
LW
Inserting two-speed motion
HW
Two-speed motion
LW
Inserting single-speed motion
HW
Single-speed motion
Parameter
Returning home
C-axis
JOG motion
B-axis
If the unit used is a motor unit, the
special data registers do not need to be
set.
If the unit used is a mechanical unit or a
compound unit, the special data registers
need to be set.
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
－
－
－
－
－
－
－
3-71
3 Devices
Mode of operation
Special data registers for motion axes
D2148
D2229
D2228
D2151
D2150
D2231
D2230
-
D2152
-
D2232
-
D2153
-
D2233
D2155
D2154
D2235
D2234
-
D2156
-
D2236
-
D2157
-
D2237
D2159
D2158
D2239
D2238
D2161
D2160
D2242
D2240
D2163
D2162
D2243
D2242
Manual pulse generator mode
D2149
Variable motion
LW
Inserting two-speed motion
HW
Two-speed motion
LW
Inserting single-speed motion
HW
Single-speed motion
Parameter
Returning home
C-axis
JOG motion
B-axis
－
◎
－
－
－
－
－
－
◎
◎
◎
◎
◎
◎
◎
－
◎
◎
◎
◎
◎
◎
◎
－
－
－
◎
◎
◎
◎
－
◎
－
－
◎
◎
◎
◎
◎
－
－
－
－
－
◎
◎
－
◎
Speed (VRT) at which the
axis specified returns
home
Speed (VCR) to which the
speed of the axis
specified decreases
when the axis returns
home
Number of PG0 pulses
for the axis specified
Supplementary pulses
for the axis specified
Home position of the
axis specified
Time (TACC) it takes for
the axis specified to
accelerate
Time (TDEC) it takes for
the axis specified to
decelerate
Target position of the
axis specified (P (I))
Speed at which the axis
specified rotates (V (I))
Target position of the
axis specified (P (II))
Speed at which the axis
specified rotates (V (II))
－
－
－
－
◎
◎
－
－
D2165
D2164
D2245
D2244
-
D2166
-
D2246
Operation command
◎
◎
◎
◎
◎
◎
◎
◎
-
D2167
-
D2247
Mode of operation
◎
◎
◎
◎
◎
◎
◎
◎
D2169
D2168
D2249
D2248
D2171
D2170
D2251
D2250
D2173
D2172
D2253
D2252
D2175
D2174
D2255
D2254
-
D2178
-
D2258
-
D2179
-
D2259
3-72
Present command
position of the axis
specified (Pulse)
Present command
speed of the axis
specified (PPS)
Present command
position of the axis
specified (Unit)
Present command
speed of the axis
specified (Unit)
Electronic gear ratio of
the axis specified
(Numerator)
Electronic gear ratio of
the axis specified
(Denominator)
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
◎
－
－
－
－
－
－
－
◎
－
－
－
－
－
－
－
◎
DVP-10PM Application Manual
3 Devices
Mode of operation
Special data registers for motion axes
D2180
D2261
D2260
D2183
D2182
D2263
D2262
-
D2184
-
D2264
Frequency of pulses
generated by the manual
－ － － － － － －
pulse generator for the
axis specified
Number of pulses
generated by the manual
－ － － － － － －
pulse generator for the
axis specified
Response speed of the
manual pulse generator － － － － － － －
for the axis specified
Manual pulse generator mode
D2181
Variable motion
LW
Inserting two-speed motion
HW
Two-speed motion
LW
Inserting single-speed motion
HW
Single-speed motion
Parameter
Returning home
C-axis
JOG motion
B-axis
◎
◎
◎
◎ indicates that the special data registers are applicable to the motion.
DVP-10PM Application Manual
3-73
3 Devices
MEMO
3-74
DVP-10PM Application Manual
4
Basic Instructions
4.1 Table of Basic Instructions
 General instructions
Instruction
Function
code
LD
Loading a Form A contact
LDI
Loading a Form B contact
Connecting a Form A contact in
AND
series
Connecting a Form B contact in
ANI
series
Connecting a Form A contact in
OR
parallel
Connecting a Form B contact in
ORI
parallel
ANB
Connecting circuit blocks in series
ORB
Connecting circuit blocks in parallel
X, Y, M, S, T, C
X, Y, M, S, T, C
Execution
speed (μs)
0.14
0.14
3
3
Page
number
4-3
4-3
X, Y, M, S, T, C
0.14
3
4-4
X, Y, M, S, T, C
0.14
3
4-4
X, Y, M, S, T, C
0.14
3
4-5
X, Y, M, S, T, C
0.14
3
4-5
-
3
3
4-6
4-7
Operand
None
None
Step
 Output instructions
Instruction
Function
code
OUT
Driving a coil
SET
Keeping a device ON
RST
Resetting a contact or a register
Operand
Y, M, S
Y, M, S
Y, M, S, T, C, D, V, Z
Execution
speed (μs)
-
Step
3
3
3
Page
number
4-7
4-8
4-8
 Timer and counters
API
96
97
97
Instruction
Function
code
TMR
16-bit timer
CNT
16-bit counter
DCNT
32-bit counter
Operand
T-K or T-D
C-K or C-D (16 bits)
C-K or C-D (32 bits)
Execution
speed (μs)
6
2.8
2.8
Step
5
5
6
Page
number
4-9
4-9
4-10
 Rising-edge/Falling-edge detection instructions
API
Instruction
code
90
LDP
91
LDF
92
ANDP
93
ANDF
94
ORP
95
ORF
Function
Starting rising-edge
detection
Starting falling-edge
detection
Connecting rising-edge
detection in series
Connecting falling-edge
detection in series
Connecting rising-edge
detection in parallel
Connecting falling-edge
detection in parallel
DVP-10PM Application Manual
Execution
speed (μs)
Step
Page
number
X, Y, M, S, T, C
0.4
3
4-10
X, Y, M, S, T, C
0.5
3
4-11
X, Y, M, S, T, C
0.4
3
4-11
X, Y, M, S, T, C
0.4
3
4-12
X, Y, M, S, T, C
0.5
3
4-12
X, Y, M, S, T, C
0.4
3
4-13
Operand
4-1
4 Basic Instructions
 Rising-edge/Falling-edge output instruction
API
89
99
Instruction
Function
code
PLS
Rising-edge output
PLF
Falling-edge output
Operand
Y, M
Y, M
Execution
speed (us)
0.2
0.3
Step
3
3
Page
number
4-14
4-14
 Other instructions
Instruction
code
P
Pointer
4-2
Function
Operand
P0~P255
Execution
speed (us)
-
Step
1
Page
number
4-15
DVP-10PM Application Manual
4
Basic Instructions
4.2 Descriptions of the Basic Instructions
Instruction
code
Function
LD
Loading a Form A contact
Operand
X0~X377
Y0~Y377 M0~M4,095 S0~S1,023





Ladder diagram:
X0
X1
Y1
Function
LDI
Loading a Form B contact
X0~X377
Y0~Y377 M0~M4,095 S0~S1,023



C0~C255
D0~D9,999


-


Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-
The instruction LDI applies to the Form B contact which starts from a busbar or
the Form B contact which is the start of a circuit. It reserves the present
contents, and stores the state which is gotten in an accumulation register.
E xp la nat io n
Ladder diagram:
E xa mple
T0~T255
Instruction code: Description:
Loading the Form A
LD
X0
contact X0
AND
X1
Connecting the
Form A contact X1
in series
OUT
Y1
Driving the coil Y1
Instruction
code
Operand

The instruction LD applies to the Form A contact which starts from a busbar or
the Form A contact which is the start of a circuit. It reserves the present
contents, and stores the state which is gotten in the accumulation register.
E xp la nat io n
E xa mple
Applicable
model
10PM
X0
DVP-10PM Application Manual
X1
Y1
Instruction code: Description:
Loading the Form B
LDI
X0
contact X0
AND
X1
Connecting the Form
A contact X1 in series
OUT
Y1
Driving the coil Y1
4-3
4 Basic Instructions
Instruction
code
Function
AND
Connecting a Form A contact in series
Operand
X0~X377

Y0~Y377 M0~M4,095 S0~S1,023



Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-

E xp la nat io n
E xa mple
The instruction AND is used to connect a Form A contact in series. It reads the
state of a contact which is connected in series, and performs the AND
operation on the previous logical operation result. The final result is stored in an
accumulation register.
Ladder diagram:
Instruction code: Description:
LDI
X1
Loading the Form B
X1
X0
contact X1
Y1
Connecting the Form
AND
X0
A contact X0
OUT
Y1
Driving the coil Y1
Instruction
code
Function
ANI
Connecting a Form B contact in series
Operand
X0~X377

Y0~Y377 M0~M4,095 S0~S1,023



Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-

E xp la nat io n
E xa mple
4-4
The instruction ANI is used to connect a Form B contact in series. It reads the
state of a contact which is connected in series, and performs the AND
operation on the previous logical operation result. The final result is stored in an
accumulation register.
Ladder diagram:
Instruction code: Description:
LD
X1
Loading the Form A
X1
X0
contact X1
Y1
Connecting the Form
ANI
X0
B contact X0 in series
OUT
Y1
Driving the coil Y1
DVP-10PM Application Manual
4
Instruction
code
Function
OR
Connecting a Form A contact in parallel
Operand
X0~X377

Y0~Y377 M0~M4,095 S0~S1,023



Basic Instructions
Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-

E xp la nat io n
E xa mple
The instruction OR is used to connect a Form A contact in parallel. It reads the
state of a contact which is connected in parallel, and performs the OR
operation on the previous logical operation result. The final result is stored in an
accumulation register.
Ladder diagram:
Instruction code: Description:
LD
X0
Loading the Form A
X0
contact X0
Y1
Connecting the Form
OR
X1
X1
A contact X1 in
parallel
OUT
Y1
Driving the coil Y1
Instruction
code
Function
ORI
Connecting a Form B contact in parallel
Operand
X0~X377

Y0~Y377 M0~M4,095 S0~S1,023



Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-

E xp la nat io n
E xa mple
The instruction ORI is used to connect a Form B contact in parallel. It reads the
state of a contact which is connected in parallel, and performs the OR
operation on the previous logical operation result. The final result is stored in an
accumulation register.
Ladder diagram:
Instruction code: Description:
LD
X0
Loading the Form A
X0
contact X0
Y1
Connecting the Form
ORI
X1
X1
B contact X1 in
parallel
OUT
Y1
Driving the coil Y1
DVP-10PM Application Manual
4-5
4 Basic Instructions
Instruction
code
Function
ANB
Connecting circuit blocks in series
Operand
The instruction ANB is used to perform the AND operation on the logical
operation result reserved previously and the contents of the present
accumulation register.
Ladder diagram:
E xa mple
X0 ANB X1
Y1
X2
X3
Block A Block B
4-6

None

E xp la nat io n
Applicable
model
10PM
Instruction code: Description:
LD
X0
Loading the Form A
contact X0
ORI
X2
Connecting the Form
B contact X2 in
parallel
LDI
X1
Loading the Form B
contact X1
OR
X3
Connecting the Form
A contact X3 in
parallel
Connecting the circuit
ANB
blocks in series
OUT
Y1
Driving the coil Y1
DVP-10PM Application Manual
4
Instruction
code
Function
ORB
Connecting circuit blocks in parallel
Operand
Applicable
model
10PM

None

The instruction ORB is used to perform the OR operation on the logical
operation result reserved previously and the contents of the present
accumulation register.
E xp la nat io n
Instruction code: Description:
LD
X0
Loading the Form A
contact X0
ANI
X1
Connecting the Form
B contact X1 in series
LDI
X2
Loading the Form B
contact X2
AND
X3
Connecting the Form
A contact X3 in series
Connecting the circuit
ORB
blocks in parallel
OUT
Y1
Driving the coil Y1
Ladder diagram:
X1 Block A
X0
E xa mple
Y1
X2
X3
ORB
Block B
Instruction
code
Function
OUT
Driving a coil
Operand
Basic Instructions
X0~X377

Y0~Y377 M0~M4,095 S0~S1,023


Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999
-
-
-

The logical operation result prior to the application of the instruction OUT is
sent to the device specified.
Action of a coil
E xp la nat io n 
OUT
Operation
result
Coil
False
True
Off
On
Ladder diagram:
E xa mple
X0
DVP-10PM Application Manual
X1
Y1
Contact
Form A contact
Form B contact
(Normally-open
(Normally-closed
contact)
contact)
OFF
ON
ON
OFF
Instruction code: Description:
LDI
X0
Loading the Form B
contact X0
AND
X1
Connecting the Form
A contact X1 in series
Driving the coil Y1
OUT
Y1
4-7
4 Basic Instructions
Instruction
code
Function
SET
Keeping a device ON
Operand
X0~X377
Y0~Y377 M0~M4,095 S0~S1,023




T0~T255
C0~C255
D0~D9,999
-
-
-

When the instruction SET is driven, the device specified is set to ON. Whether
the instruction SET is still driven or not, the device specified remains ON. Users
can set the device specified to OFF by means of the instruction RST.
E xp la nat io n
Ladder diagram:
X0
E xa mple
Applicable
model
10PM
Instruction code: Description:
LD
X0
Loading the Form A
contact X0
ANI
Y0
Connecting the
Form B contact Y0
Y01 remains ON.
SET
Y1
Y0
SET
Y1
Instruction
code
Function
RST
Resetting a contact or a register
Operand
X0~X377
E xp la nat io n

Y0~Y377 M0~M4,095 S0~S1,023
T0~T255
C0~C255
D0~D9,999






Applicable
model
10PM

When the instruction RST is driven, the device specified acts in the way
described below.
Device
State
S, Y, M
The coil and the contact are set to OFF.
T, C
The present timer value or the present counter value becomes 0. The
coil and the contact are set to OFF.
D, V, Z
The value becomes 0.

E xa mple
4-8
If the instruction RST is not executed, the state of the device specified will
remain unchanged.
Instruction code: Description:
Ladder diagram:
LD
X0
Loading the Form A
X0
contact X0
RST
Y5
Resetting Y5
RST
Y5
DVP-10PM Application Manual
4
Instruction
code
Function
TMR
16-bit timer
Operand
T-K
T-D

E xp la nat io n
Basic Instructions
Applicable
model
10PM

T0~T255, K0~K32,767
T0~T255, D0~D9,999
When the instruction TMR is executed, the coil specified is ON, and the timer
specified begins to count. If the timer value matches the setting value (timer
value≧setting value), the contact specified will act in the way described below.
NO (Normally-open) contact
NC (Normally-closed) contact
OFF
ON
Ladder diagram:
E xa mple
A dditio nal
re mark
Instruction code: Description:
LD X0
Loading the Form A
X0
contact X0
K1000
TMR
T5
TMR T5 K1000 The setting value in
the timer T5 is
K1000.
 Please refer to the specifications for the model used for more information about
the timer range which can be used.
Instruction
code
Function
CNT
16-bit counter
Operand
C-K
C-D

E xp la nat io n
Applicable
model
10PM

C0~C199, K0~K32,767
C0~C199, D0~D9,999
When the counter coil specified by the instruction CNT is turned from OFF to
ON, the counter value increases by 1. If the counter value matches the setting
value (counter value=setting value), the contact specified will act in the way
described below.
NO (Normally-open) contact
NC (Normally-closed) contact
OFF
ON

E xa mple
If there are pulses sent to the counter specified by the instruction CNT after the
counter value matches the setting value, the state of the contact specified and
the counter value will remain unchanged. Users can reset a counter by means
of the instruction RST.
Ladder diagram:
Instruction code:
Description:
LD
X0
Loading the Form
X0
A contact X0
K100
CNT
C20
CNT C20 K100 The setting value
in the counter
C20 is K100.
DVP-10PM Application Manual
4-9
4 Basic Instructions
Instruction
code
Function
DCNT
32-bit counter
C-K
C-D
Operand
E xp la nat io n
E xa mple


DCNT is an instruction which is used to enable the 32-bit counters C200~C255.
C221~C2255 are general up/down counters. When the counter coil specified
by the instruction DCNT is turned from OFF to ON, the counter value increases
or decreases by one according to the setting of M1200~M1234.
Instruction code:
Description:
Ladder diagram:
LD
M0
Loading the Form
M0
A
contact M0
K1000
DCNT
C254
DCNT C254 K1000 The setting value
in the counter
C254 is K1000.
Function
LDP
Starting rising-edge detection
X0~X377


E xp la nat io n
Y0~Y377 M0~M4,095 S0~S1,023

A dditio nal
re mark
4-10


Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-
The usage of LDP is similar to that of LD, but the action of LDP is different from
that of LD. LDP reserves the present contents, and stores the state of the rising
edge-triggered contact specified to an accumulation register.
Ladder diagram:
E xa mple

C200, C204, C208~C255, K-2,147,483,648~K2,147,483,647
C200, C204, C208~C255, D0~D9,999
Instruction
code
Operand
Applicable
model
10PM
Instruction code:
LDP
X0
Description:
Starting
the detection
X0
X1
of
the
state
of the rising
Y1
edge-triggered contact
X0
AND
X1
Connecting the Form A
contact X1 in series
OUT
Y1
Driving the coil Y1
 Please refer to the specifications for the model used for more information about
the operand ranges which can be used.
 If the state of a rising edge-triggered contact in a DVP-10PM series motion
controller is ON before the DVP-10PM series motion controller is powered, it is
TRUE after the DVP-10PM series motion controller is powered.
DVP-10PM Application Manual
4
Instruction
code
Function
LDF
Starting falling-edge detection
X0~X377
Operand
Y0~Y377 M0~M4,095 S0~S1,023





Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-
The usage of LDF is similar to that of LD, but the action of LDP is different from
that of LD. LDF reserves the present contents, and stores the state of the falling
edge-triggered contact specified to an accumulation register.
E xp la nat io n
Ladder diagram:
E xa mple
X0
Instruction code: Description:
Starting the detection
LDF
X0
of the state of the
falling edge-triggered
contact X0
AND
X1
Connecting the Form A
contact X1 in series
OUT
Y1
Driving the coil Y1
X1
Y1
Instruction
code
Function
ANDP
Connecting rising-edge detection in series
Operand
X0~X377
E xp la nat io n
Y0~Y377 M0~M4,095 S0~S1,023





Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-
The instruction ANDP is used to connect a rising edge-triggered contact in
series.
Ladder diagram:
E xa mple
Basic Instructions
X0
DVP-10PM Application Manual
X1
Y1
Instruction code: Description:
LD
X0
Loading the Form A
contact X0
Connecting the rising
ANDP X1
edge-triggered contact
X1 in series
OUT
Y1
Driving the coil Y1
4-11
4 Basic Instructions
Instruction
code
Function
ANDF
Connecting falling-edge detection in series
Operand
X0~X377
Y0~Y377 M0~M4,095 S0~S1,023


E xp la nat io n



T0~T255
C0~C255
D0~D9,999


-
X0
Instruction code:
LD
X0
X1
Y1
ANDF
X1
OUT
Y1
Instruction
code
Function
ORP
Connecting rising-edge detection in parallel
Operand
X0~X377


E xp la nat io n
Y0~Y377 M0~M4,095 S0~S1,023


Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-
Instruction code:
LD
X0
X0
Y1
X1
4-12

Description:
Loading the Form A
contact X0
Connecting the falling
edge-triggered
contact X1 in series
Driving the coil Y1
The instruction ORP is used to connect a rising edge-triggered contact in
parallel.
Ladder diagram:
E xa mple

The instruction ANDF is used to connect a falling edge-triggered contact in
series.
Ladder diagram:
E xa mple
Applicable
model
10PM
ORP
X1
OUT
Y1
Description:
Loading the Form A
contact X0
Connecting the rising
edge-triggered contact
X1 in parallel
Driving the coil Y1
DVP-10PM Application Manual
4
Instruction
code
Function
ORF
Connecting falling-edge detection in parallel
Operand
X0~X377


E xp la nat io n
Y0~Y377 M0~M4,095 S0~S1,023


Applicable
model
10PM

T0~T255
C0~C255
D0~D9,999


-
The instruction ORF is used to connect a falling edge-triggered contact in
parallel.
Ladder diagram:
E xa mple

Basic Instructions
Instruction code:
LD
X0
X0
Y1
X1
DVP-10PM Application Manual
ORF
X1
OUT
Y1
Description:
Loading the Form A
contact X0
Connecting the falling
edge-triggered contact
X1
Driving the coil Y1
4-13
4 Basic Instructions
Instruction
code
Function
PLS
Rising-edge output
Operand
X0~X377
Y0~Y377 M0~M4,095 S0~S1,023



-

T0~T255
C0~C255
D0~D9,999
-
-
-
PLS is a rising-edge output instruction. When X0 is turned from OFF to ON, the
instruction PLS is executed. M0 sends a pulse for a scan cycle.
E xp la nat io n
Ladder diagram:
E xa mple
Applicable
model
10PM
Instruction code: Description:
LD
X0
Loading the Form A
contact X0
M0 is rising
PLS
M0
edge-triggered.
LD
M0
Loading the Form A
contact M0
SET
Y0
Y0 remains ON.
X0
PLS
M0
SET
Y0
M0
Timing diagram:
X0
On e sca n cycle
M0
Y0
Instruction
code
Function
PLF
Falling-edge output
Operand
X0~X377
Y0~Y377 M0~M4,095 S0~S1,023



-

T0~T255
C0~C255
D0~D9,999
-
-
-
PLF is a falling-edge output instruction. When X0 is turned from ON to OFF, the
instruction PLF is executed. MO sends a pulse for a scan cycle.
E xp la nat io n
Ladder diagram:
E xa mple
Applicable
model
10PM
X0
PLF
M0
SET
Y0
M0
Timing diagram:
Instruction code: Description:
LD
X0
Loading the Form A
contact X0
M0 is falling
PLF
M0
edge-triggered.
LD
M0
Loading the Form A
contact M0
SET
Y0
Y0 remains ON.
X0
M0
On e sca n cycle
Y0
4-14
DVP-10PM Application Manual
4
Instruction
code
Function
P
Pointer
Operand
E xp la nat io n
Applicable
model
10PM

P0~P255
A pointer can be used by API 00 CJ, API 01 CALL, API 256 CJN, and API 257 JMP.
The pointers used do not have to start from P0. A pointer number can not be used
repeatedly, otherwise an unexpected error will occur.
Ladder diagram:
E xa mple
Basic Instructions
X0
CJ
P10
X1
Y1
DVP-10PM Application Manual
P10
Instruction code: Description:
LD
X0
Loading the Form A
contact X0
CJ
P10
The jump instruction
CJ specifies P10.
:
Pointer P10
P10
LD
X1
Loading the Form A
contact X1
OUT
Y1
Driving the coil Y1
4-15
4 Basic Instructions
MEMO
4-16
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
5.1 Table of Applied Instructions
Type API
Loop control
Transfer and comparison
00
01
02
07
08
09
10
11
12
13
14
15
16
17
18
19
Arithmetic
Rotation and move
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
Data processing
40
41
42
43
44
45
46
47
48
Instruction code
Step
Pulse
Function
16-bit
32-bit instruction
16-bit 32-bit

CJ
–
Conditional jump
3
–

CALL
–
Calling a subroutine
3
–
SRET
–
–
Indicating that a subroutine ends
1
–

WDT
–
Watchdog timer
1
–
RPT
–
–
Start of a nested loop (only one loop)
3
–
RPE
–
–
End of a nested loop
1
–

CMP
DCMP
Comparing values
7
9

ZCP
DZCP
Zonal comparison
9
12

MOV
DMOV
Transferring a value
5
6

SMOV
Transferring digits
11
–

CML
DCML
Inverting bits
5
9

BMOV
Transferring values
7
–

FMOV
DFMOV
Transferring a value to several devices
7
13

XCH
DXCH
Interchanging values
5
9
Converting a binary value into a binary-coded

BCD
DBCD
5
5
decimal value
Converting a binary-coded decimal value into

BIN
DBIN
5
5
a binary value

ADD
DADD
Binary addition
7
9

SUB
DSUB
Binary subtraction
7
9

MUL
DMUL
Binary multiplication
7
9

DIV
DDIV
Binary division
7
9

INC
DINC
Adding one to a binary value
3
3

DEC
DDEC
Subtracting one from a binary value
3
3

WAND
DWAND
Logical AND operation
7
9

WOR
DWOR
Logical OR operation
7
9

WXOR DWXOR
Logical exclusive OR operation
7
9

NEG
DNEG
Taking the two’s complement of a value
3
3

ROR
DROR
Rotating bits rightwards
5
9

ROL
DROL
Rotating bits leftwards
5
9

RCR
DRCR
Rotating bits rightwards with a carry flag
5
9

RCL
DRCL
Rotating bits leftwards with a carry flag
5
9

SFTR
–
Moving the states of bit devices rightwards
9

SFTL
–
Moving the states of bit devices leftwards
9

WSFR
–
Moving the values in word devices rightwards
9

WSFL
–
Moving the values in word devices leftwards
9
Moving a value and writing it into a word

SFWR
–
7
device
Moving a value and reading it from a word

SFRD
–
7
device

ZRST
–
Resetting a zone
5
–

DECO
Decoder
7

ENCO
Encoder
7

SUM
DSUM
Number of bits which are ON
5
9

BON
DBON
Checking the state of a bit
7
13

MEAN
DMEAN
Mean
7
13
ANS
Driving an annunciator
7

ANR
Resetting an annunicator
1

SQR
DSQR
Square root of a binary value
5
9
DVP-10PM Application Manual
Page
No.
5-13
5-16
5-17
5-19
5-20
5-21
5-22
5-23
5-24
5-25
5-28
5-29
5-31
5-32
5-33
5-34
5-35
5-37
5-38
5-39
5-40
5-41
5-42
5-43
5-44
5-45
5-47
5-48
5-49
5-50
5-51
5-52
5-53
5-55
5-56
5-57
5-58
5-59
5-61
5-63
5-64
5-65
5-66
5-67
5-69
5-1
5 Applied Instructions and Basic Usage
Type API
Step
16-bit 32-bit
Function
Page
No.
Data
High-speed
Convenience
processing processing
I/O
Basic instructions

Converting a binary integer into a binary
floating-point value
–
6
5-70
-

Refreshing the states of I/O devices
5
-
5-72
SER
ALT
RAMP
SORT
DSER
DRAMP
DSORT


9
3
9
11
17
17
21
5-73
5-75
5-76
5-78
78 FROM
DFROM

9
12
5-80
79 TO
DTO

9
13
5-81
DABS
–
–
–
–
–
–
–
–
DCNT
–

–
–
–
–
–
–
–
–
–
–
Searching data
Alternating between ON and OFF
Ramp
Sorting data
Reading data from a control register in a
special module
Writing data into a control register in a special
module
Absolute value
Rising-edge output
Starting rising-edge detection
Starting falling-edge detection
Connecting rising-edge detection in series
Connecting falling-edge detection in series
Connecting rising-edge detection in parallel
Connecting falling-edge detection in parallel
16-bit timer
16-bit counter
Falling-edge output
3
3
3
3
3
3
3
3
5
5
3
5
–
–
–
–
–
–
–
–
6
–
5-84
4-14
4-10
4-11
4-11
4-12
4-12
4-13
4-9
4-9
4-14
–
49
50 REF
61
66
67
69
87
89
90
91
92
93
94
95
96
97
99
ABS
PLS
LDP
LDF
ANDP
ANDF
ORP
ORF
TMR
CNT
PLF
DFLT
-
Communication
Floating-point value
100 MODRD
–
–
Reading Modbus data
7
–
5-85
101 MODWR
–
–
Writing Modbus data
7
–
5-89
Comparing binary floating-point values
Binary floating-point zonal comparison
Transferring a floating-point value
Converting a degree to a radian
Converting a radian to a degree
Binary floating-point addition
Binary floating-point subtraction
Binary floating-point multiplication
Binary floating-point division
Exponent of a binary floating-point value
Natural logarithm of a binary floating-point
value
Logarithm of a binary floating-point value
Square root of a binary floating-point value
Power of a floating-point value
Converting a binary floating-point value into a
binary integer
Sine of a binary floating-point value
7
9
–
–
7
7
7
7
–
9
12
9
6
6
9
9
9
9
6
5-94
5-95
5-96
5-97
5-98
5-99
5-100
5-101
5-102
5-103
–
6
5-104
–
5
–
9
6
9
5-105
5-106
5-107
–
6
5-108
5
6
5-109
110
111
112
116
117
120
121
122
123
124
–
–
–
–
–
–
–
–
–
–
DECMP
DEZCP
DMOVR
DRAD
DDEG
DEADD
DESUB
DEMUL
DEDIV
DEXP










125
–
DLN

126
127
128
–
–
–
–
DLOG
DESQR
DPOW



DINT

–
DSIN

129
130
5-2
Instruction code
Pulse
16-bit
32-bit instruction
DVP-10PM Application Manual
5 Applied Instructions and Basic Usage
Type API
Instruction code
Pulse
16-bit
32-bit instruction
Page
No.
Data
High-speed
Convenience
processing processing

Converting a binary integer into a binary
floating-point value
–
6
5-70
-

Refreshing the states of I/O devices
5
-
5-72
SER
ALT
RAMP
SORT
DSER
DRAMP
DSORT


9
3
9
11
17
17
21
5-73
5-75
5-76
5-78
78 FROM
DFROM

9
12
5-80
79 TO
DTO

9
13
5-81
DABS
–
–
–
–
–
–
–
–
DCNT
–

–
–
–
–
–
–
–
–
–
–
Searching data
Alternating between ON and OFF
Ramp
Sorting data
Reading data from a control register in a
special module
Writing data into a control register in a special
module
Absolute value
Rising-edge output
Starting rising-edge detection
Starting falling-edge detection
Connecting rising-edge detection in series
Connecting falling-edge detection in series
Connecting rising-edge detection in parallel
Connecting falling-edge detection in parallel
16-bit timer
16-bit counter
Falling-edge output
3
3
3
3
3
3
3
3
5
5
3
5
–
–
–
–
–
–
–
–
6
–
5-84
4-14
4-10
4-11
4-11
4-12
4-12
4-13
4-9
4-9
4-14
–
49
50 REF
61
66
67
69
DFLT
I/O
Basic instructions
87
89
90
91
92
93
94
95
96
97
99
ABS
PLS
LDP
LDF
ANDP
ANDF
ORP
ORF
TMR
CNT
PLF
-
Communication
Floating-point value
100 MODRD
–
–
Reading Modbus data
7
–
5-85
101 MODWR
–
–
Writing Modbus data
7
–
5-89
Comparing binary floating-point values
Binary floating-point zonal comparison
Transferring a floating-point value
Converting a degree to a radian
Converting a radian to a degree
Binary floating-point addition
Binary floating-point subtraction
Binary floating-point multiplication
Binary floating-point division
Exponent of a binary floating-point value
Natural logarithm of a binary floating-point
value
Logarithm of a binary floating-point value
Square root of a binary floating-point value
Power of a floating-point value
Converting a binary floating-point value into a
binary integer
Sine of a binary floating-point value
7
9
–
–
7
7
7
7
–
9
12
9
6
6
9
9
9
9
6
5-94
5-95
5-96
5-97
5-98
5-99
5-100
5-101
5-102
5-103
–
6
5-104
–
5
–
9
6
9
5-105
5-106
5-107
–
6
5-108
5
6
5-109
110
111
112
116
117
120
121
122
123
124
–
–
–
–
–
–
–
–
–
–
DECMP
DEZCP
DMOVR
DRAD
DDEG
DEADD
DESUB
DEMUL
DEDIV
DEXP










125
–
DLN

126
127
128
–
–
–
–
DLOG
DESQR
DPOW



DINT

–
DSIN

129
130
5-2
Step
16-bit 32-bit
Function
DVP-10PM Application Manual
5
Type API
Floating-point value
131
132
133
134
135
136
137
138
Logical operation
172
173
174
175
215
216
217
218
219
220
221
222
223
224
Applied Instructions and Basic Usage
Instruction code
Step
Pulse
Function
16-bit
32-bit instruction
16-bit 32-bit

–
DCOS
Cosine of a binary floating-point value
5
6

–
DTAN
Tangent of a binary floating-point value
5
6

–
DASIN
Arcsine of a binary floating-point value
–
6

–
DACOS
Arccosine of a binary floating-point value
–
6

–
DATAN
Arctangent of a binary floating-point value
–
6

–
DSINH
Hyperbolic sine of a binary floating-point value
–
6
Hyperbolic cosine of a binary floating-point

–
DCOSH
–
6
value
Hyperbolic tangent of a binary floating-point

–
DTANH
–
6
value

DADDR
Floating-point addition
13

DSUBR
Floating-point subtraction
13

DMULR
Floating-point multiplication
13

DDIVR
Floating-point division
13
LD&
DLD&
–
S1&S2
5
7
LD|
DLD|
–
S1|S2
5
7
LD^
DLD^
–
S1^S2
5
7
AND&
DAND&
–
S1&S2
5
7
AND|
DAND|
–
S1|S2
5
7
AND^
DAND^
–
S1^S2
5
7
OR&
DOR&
–
S1&S2
5
7
OR|
DOR|
–
S1|S2
5
7
OR^
DOR^
–
S1^S2
5
7
–
LD=
DLD=
5
7
S1＝S2
Page
No.
5-111
5-113
5-115
5-116
5-117
5-118
5-119
5-120
5-121
5-122
5-123
5-124
5-125
5-125
5-125
5-126
5-126
5-126
5-127
5-127
5-127
5-128
Comparison instructions
225 LD>
DLD>
–
S1＞S2
5
7
5-128
226 LD<
DLD<
–
S1＜S2
5
7
5-128
228 LD<>
DLD<>
S1≠S2
5
7
5-128
229 LD<=
DLD<=
–
–
S1≦ S2
5
7
5-128
230 LD>=
DLD>=
–
S1≧ S2
5
7
5-128
232 AND=
DAND=
–
S1＝S2
5
7
5-129
233 AND>
DAND>
–
S1＞S2
5
7
5-129
234 AND<
DAND<
–
S1＜S2
5
7
5-129
236 AND<>
DAND<>
S1≠S2
5
7
5-129
237 AND<=
DAND<=
–
–
S1≦ S2
5
7
5-129
238 AND>=
DAND>=
–
S1≧ S2
5
7
5-129
240 OR=
DOR=
–
S1＝S2
5
7
5-130
241 OR>
DOR>
–
S1＞S2
5
7
5-130
242 OR<
DOR<
–
S1＜S2
5
7
5-130
244 OR<>
DOR<>
S1≠S2
5
7
5-130
245 OR<=
DOR<=
–
–
S1≦ S2
5
7
5-130
246 OR>=
DOR>=
–
S1≧ S2
5
7
5-130
DVP-10PM Application Manual
5-3
5 Applied Instructions and Basic Usage
Type API
Instruction code
Pulse
16-bit
32-bit instruction
Other instructions
147 SWAP
DSWAP

RAND
SCAL
SCLP
CJN
JMP
BRET
MMOV
RMOV
DRAND
DSCLP
–
–
–
–
–




–
–


154
202
203
256
257
258
259
260
Step
16-bit 32-bit
Function
Interchanging the high byte in a device with
the low byte in the device
Random value
Scale
Parameter scale
Negated conditional jump
Unconditional jump
Returning to a busbar
Converting a 16-bit value into a 32-bit value
Converting a 32-bit value into a 16-bit value
Page
No.
3
5
5-131
7
9
7
3
3
1
6
6
13
13
–
–
–
–
–
5-132
5-133
5-135
5-139
5-140
5-141
5-142
5-143
5.2 Structure of an Applied Instruction
 An applied instruction is composed of an instruction name and operands.
Instruction name: An instruction name represents a function.
Operand:
An operand is the object of an operation.
An instruction name occupie one step. The number of steps an operand occupies can be two or
three, depending on the instruction used is a 16-bit instruciton or a 32-bit instruction.
 Descriptions of the applied instructions
1
2
3
4
5
6
7
8
9
5-4
API number
The upper cell indicates a 16-bit instruction. If the upper cell is a dotted cell, there will be
no 16-bit instruction.
The lower cell indicates a 32-bit instruction. If the lower cell is a dotted cell, there is no
32-bit instruction. If there is a 32-bit instruction, D is displayed in the lower cell, e.g. API
10 DCMP.
Applied instruction name
If  is displayed in the upper cell, a pulse instruction is generally used.
The lower cell indicates a pulse instruction. If there is a pulse instruction, P is displayed in
the lower cell, e.g. API 12 MOVP.
Operands
Function
Number of steps occupied by a 16-bit instruction, continuity instruction name, and pulse
instruction name
Number of steps occupied by a 32-bit instruction, continuity instruction name, and pulse
instruction name
Flags related to an applied instruction
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
11
The devices marked with ‘＊’ displayed in grayscale can be modified by V devices and Z
devices.
Points for attention
12
The devices marked with ‘＊’ can be used.
10
Device name
Device type
15 Applicable model
 Typing an applied instruction
Some applied instructions are composed of instruction names, e.g. BRET and SRET, but most
applied instructions are composed of instruction names and operands.
The applied instructions that a DVP-10PM series motion controller can use are assigned the
instruction numbers API 00~API 260. Besides, every applied instruction is assigned a mnemonic. For
example, the mnemonic of API 12 is MOV. If users want to type an instruction by means of PMSoft,
they can type the mnemonic assigned to the instruction. If users want to type an instruction by means
of the handheld programming panel DVPHPP03, they can type the API number assigned to the
instruction. Every applied instruction specifies operands. Take the instruction MOV for instance.
13
14
D
S
X0
MOV K1 0
Instruction
code
D 10
Oper ands
The instruction is used to move the value in the operand S to the operand D.
Source operand
If there is more one source operand, the source operands will be represented by
S1, S2, and etc.
Destination operand
D
If there is more than one destination operand, the destination operands will be
represented by D1, D2, and etc.
If operands are constants, they will be represented by m, m1, m2, n, n1, n2, and etc.
S
 Length of an operand (16-bit instruction or 32-bit instruction)
The values in operands can be grouped into 16-bit values and 32-bit values. In order to process
values of difference lengths, some applied instructions are grouped into 16-bit instructions and 32-bit
instructions. After “D” is added to the front of a 16-bit instruction, the instruction becomes a 32-bit
instruction.
When X0 is ON, K10 is moved to D10.
The instruction MOV is a 16-bit instruction.
X0
MOV K10
D10
The instruction DMOV is a 32-bit instruction.
X1
DMOV
DVP-10PM Application Manual
D10
When X1 is ON, the value in (D11, D10) is moved to
(D21, D20).
D20
5-5
5 Applied Instructions and Basic Usage
 Continuity instruction/Pulse instruction
The applied instructions can be grouped into continuity instructions and pulse instructions in terms of
the ways the applied instructions are executed. If an instruction in a program is not executed, the
execution of the program will take less time. As a result, if there are pulse instructions in a program,
the scan cycle will be shorter. If “P” is added to the back of an instruction, the instruction becomes a
pulse instruction. Some instructions are mostly used as pulse instructions.
Pulse instruction
When X0 is turned from OFF to ON, the instruction
X0
MOVP is executed once. MOVP will not be executed
again during the scan cycle, and therefore it is a
MOVP D10 D12
pulse instruction.
Continuity instruction
Whenever X1 is ON, the instruction MOV is
executed once. MOV is a continuity instruction.
X1
MOV D10
D12
When the contacts X0 and X1 are OFF, the instructions are not executed, and the values in the
destation operands are not changed.
 Operand
1. A word device can consist of bit devices. Applied instructions can use KnX, KnY, KnM, and KnS.
Values can be stored in KnX, KnY, KnM, and KnS.
2. Data registers, timers, counters, and index registers can be used as general operands.
3. A data register is a 16-bit register. If users want to use a 32-bit data register, they have to specify
two consecutive data registers.
4. If a 32-bit instruction uses D0 as an operand, the 32-bit data register composed of D1 and D0 will
be used. D1 occupies the high 16 bits, and D0 occupy the low 16 bits. Timers and the 16-bit
counters C0~C199 can be used in the same way.
5. If the 32-bit counters C200~C255 are used as data registers, they can be operands used by 32-bit
instructions.
 Operand type
1. X devices, Y devices, M devices, and S devices can only be turned ON or OFF. They are bit
devices.
2. 16-bit (or 32-bit) T devices, C device, D devices, V devices, and Z devices are word devices.
3. If Kn is added to the front of an X/Y/M/S device, a word device will be formed. For example, K2M0
represents a device composed of the eight bit devices M0~M7.
X0
When X0 is ON, the values of M0~M7 are moved to
bit 0~bit 7 in D10, and bit 8~bit 15 are set to 0.
MOV K2M0 D10
 Values in word devices composed of bit devices
16-bit instruction
A 16-bit value is in the range of K-32,768 to
K32,767.
Value in a word device composed of bit
devices
K1 (4 bits)
0~15
K2 (8 bits)
0~255
K3 (12 bits)
0~4,095
K4 (16 bits)
-32,768~+32,767
5-6
32-bit instruction
A 32-bit value is in the range of K-2,147,483,648 to
K2,147,483,647.
Value in a word device composed of bit devices
K1 (4 bits)
K2 (8 bits)
K3 (12 bits)
K4 (16 bits)
K5 (20 bits)
K6 (24 bits)
K7 (28 bits)
K8 (32 bits)
0~15
0~255
0~4,095
0~65,535
0~1,048,575
0~167,772,165
0~268,435,455
-2,147,483,648~+2,147,483,647
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
 General flags
Example: M1968 is a zero flag, M1969 is a borrow flag, and M1970 is a carry flag
Every flag in a DVP-10PM series motion controller corresponds to an operation result.
The state of a flag varies with an operation result. For example, if the instruction ADD/SUB/MUL/DIV
is used in the main program O100~M102, the operation result gotten will affect the states of
M1968~M1970. However, if the instruciton is not executed, the states of the flags will remain
unchanged. The states of flags are related to instructions. Please refer to the explanations of
instructions for more information.
5.3 Processing Values
 X devices, Y devices, M devices, and S devices can only be turned ON or OFF. They are bit devices.
Values can be stored in T device, C devices, D devices, V devices, and Z devices. They are word
devices. If Kn is added to the front of an X/Y/M/S device, a word device will be formed.
 If Kn is added to the front of an X/Y/M/S device, a word device will be formed. For example, K2M0
represents a device composed of the eight bit devices M0~M7.
Valid data
M1 5
0
M1 4 M1 3 M1 2
0
1
M11 M1 0
0
1
1
M9
M8
M7
M6
M5
M4
M3
M2
0
1
0
1
0
1
0
1
M1
M0
0
1
Low byte
T he values in M0~M7 are mov ed.
Bit 8~ bit 15 ar e set to 0.
D1
0
b 15
0
0
b 14
b 13
0
0
0
0
0
0
1
0
1
0
1
0
1
b 12
b 11
b 10
b9
b8
b7
b6
b5
b4
b3
b2
b1
b0
Equal to
Low byte
D1
0
0
0
0
0
0
0
0
0
1
0
1
0
1
0
1
 The value in K1M0 is moved to a 16-bit register, and bit 4~bit 15 in the register are set to 0. The value
in K2M0 is moved to a 16-bit register, and bit 8~bit 15 in the register are set to 0. The value in K3M0 is
moved to a 16-bit register, and bit 12~bit 15 in the register are set to 0. The value in K1M0 is moved to
a 32-bit register, and bit 4~bit 31 in the register are set to 0. The value in K2M0 is moved to a 32-bit
register, and bit 8~bit 31 in the register are set to 0. The value in K3M0 is moved to a 32-bit register,
and bit 12~bit 31 in the register are set to 0. The value in K4M0 is moved to a 32-bit register, and bit
16~bit 31 in the register are set to 0. The value in K5M0 is moved to a 32-bit regiser, and bit 20~bit 31
in the register are set to 0. The vlaue in K6M0 is moved to a 32-bit register, and bit 24~bit 31 in the
register are set to 0. The value in K7M0 is moved to a 32-bit register, and bit 28~bit 31 in the register
are set to 0.
 If Kn is in the range of K1~K3 (or K4~K7), the bits which are not assigned values in the 16-bit register
(the 32-bit register) to which a value is moved will be set to 0. As a result, operations will be performed
on positive values if Kn is in the range of K1~K3 (or K4~K7).
 The binary-coded decimal value in X4~X11 is
M0
BIN K2X4
D0
converted into a binary value, and the binary value is
stored in D0.
 Users can specify bit device numbers freely. It is suggested X device numbers/Y devuce numbers
should end with 0, and that M device numbers/S device numbers should start from a number which is
a multiple of 8.
DVP-10PM Application Manual
5-7
5 Applied Instructions and Basic Usage
 Consecutive devices
Take data registers for instances. D0, D1, D2, D3, and D4 are consecutive data registers.
The consecutive word devices composed of bit devices are shown below.
K1X0
K2Y0
K3M0
K4S0
K1X4
K2Y10
K3M12
K4S16
K1X10
K2Y20
K3M24
K4S32
K1X14……
Y2X30……
K3M36…….
K4S48…….
The consecutive word devices composed of bit devices are shown above. To avoid confusion, please
do not skip any word device composed of bit devices. Beisdes, if a 32-bit operation is performed on
K4Y0, the high 16 bits in the 32-bit register to which the value in K4Y0 is moved will be set to 0. If a
32-bit value is required, please use K8Y0.
After an operation is performed, the binary integer gotten will be given priority. For example, 40÷3=13,
and the remainder 1 is dropped. The integer part of the square root of an integer is retained, and the
fractional part of the square root is dropped. However, if a decimal instruiction is used, a decimal will
be gotten.
The applied intructions listed below are decimal instructions.
API 110 (D ECMP)
API 120 (D EADD)
API 124 (D EXP)
API 128 (D POW)
API 132 (D TAN)
API 136 (D SINH)
API 111 (D EZCP)
API 121 (D ESUB)
API 125 (D LN)
API 129 (D INT)
API 133 (D ASIN)
API 137 (D COSH)
API 116 (D RAD)
API 122 (D EMUL)
API 126 (D LOG)
API 130 (D SIN)
API 134 (D ACOS)
API 138 (D TANH)
API 117 (D DEG)
API 123 (D EDIV)
API 127 (D ESQR)
API 131 (D COS)
API 135 (D ATAN)
Representations of binary floating-point values
The floating-point values in a DVP-10PM series motion controller are 32-bit floating-point values, and the
representations of the floating-point values conform to the IEEE 754 standard.
S
8 -b it
2 3- bi t
E xpo ne nt
Ma nti ssa
b 31
b0
S ig n b it
0 : Po siti ve n umb er
1 : Neg ati ve n umb er
Representation of a floating-point value:
 1S  2 E  B  1.M ; B  127
A 32-bit floating-point value is in the range of ±2-126 to ±2+128, that is, a 32-bit floating-point value is in the
range of ±1.1755×10-38 to ±3.4028×10+38.
Example 1: 23 is represented by a 32-bit floating-point value.
Step 1: Converting 23 into a binary value: 23.0=10111
Step 2: Normalizing the binary value: 10111=1.0111×24 (0111 is a mantissa, and 4 is an exponent)
Step 3: Getting the exponent which is stored
∵ E-B=4 →E-127=4 ∴ E=131=100000112
Step 4: Combining the sign bit, the exponent, and the mantissa to form a floating-point value.
0 10000011 011100000000000000000002=41B8000016
5-8
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Example 2: -23.0 is represented by a 32-bit floating-point value.
-23.0 is converted in the same way as 23.0. Users only need to change the sign bit to 1.
A DVP-10PM series motion controller uses two consecutive registers to form a 32-bit floating-point values.
Take (D1, D0) in which a bianry floating-point value is stored for instance.
D1 (b 15 ~b 0)
S
2
E7
2
E6
2
E5
2
E1
b31 b30 b29 b28
D0 (b 15 ~b 0)
2
2
2
2
E0 A22 A21 A20
2
A6
2
A5
2
A4
2
A3
2
A2
2
A1
2
A0
b24 b23 b22 b21 b20
b6
b5
b4
b3
b2
b1
b0
Expo nent
( 8 bits; s igne d numb er)
Ma n ti ssa ( 2 3 bi ts)
Pos it io n wher e a dec ima l poin t i s hi dden
Ma n ti ssa si g n b it ( 0 : P o si tiv e nu m be r ; 1 : N eg a ti ve n um b er )
Wh e n th e va lu e o f b 0~b 3 1 i s 0 , th e va lu e o f b 3 1 is 0.
Decimal floating-point value
 Since binary floating-point values are not widely accepted by people, they can be converted into
decimal floating-point values. However, the decimals on which operations are performed in a
DVP-10PM series motion controller are still binary floating-point values.
 A decimal floating-point value is stored in two consecutive registers. The constant part is stored in the
register whose device number is smaller, and the exponent part is stored in the register whose device
number is bigger.
Take (D1, D0) for instance.
[ Ex ponent D1]
D eci mal f lo ati ng -po in t nu mb er=[C on sta nt D 0 ]* 1 0
Base: D0=±1,000~±9,999
Exponent: D1=-41~+35
Besides, the base 100 does not exist in D0 because 100 is represented by 1,000×10-1. A decimal
floating-point value is in the range of ±1,175×10-41 to ±3,402×10+35.
 If the instruction ADD/SUB/MUL/DIV is used in the main program O100~M102, the operation result
gotten will affect the states of M1968~M1970. If a floating-point operation instruction is used, the result
gotten will also affect the state of the zero flag M1968, the state of the borrow flag M1969, and the
state of the carry flag M1970.
 Zero flag: If the operation result gotten is 0, M1968 will be ON.
 Carry flag: If the absolute value of the operaiton result gotten is greater than the maximum value
allowed, M1969 will be ON.
 Borrow flag: If the absolute value of the operation result gotten is less than the minimum value
allowed, M1970 will be ON.
5.4 Using Index Registers to Modify Operands
V devices are 16-bit index registers, and Z devices are 32-bit index registers. There are 6 V devices
(V0~V5), 8 Z devices (Z0~Z7) in a DVP-10PM series motion controller.
V devices are 16-bit registers. Data can be freely
16 bits
written into a V device, and data can be freely read
V0~V7
from a V device. If a 32-bit value is required, please
use a Z device.
32 bits
Z 0~ Z7
High byte
Low byte
Index registers can be used to modify P/I/X/Y/M/S/KnX/KnY/KnM/KnS/T/C/D devices, but they can not be
used to modify index registers, constants, and Kn. For example, K4@Z0 is invalid, K4M0@Z0 is valid,
DVP-10PM Application Manual
5-9
5 Applied Instructions and Basic Usage
and K0@Z0M0 is invalid. The devices marked with ‘＊’ displayed in grayscale in the table in the
explanation of an applied instruction can be modified by V devices and Z devices..
5.5 Instruction Index
 Arranging applied instructions in alphabetical order
Type API
87
20
66
218
220
219
Instruction code
Pulse
Function
16-bit
32-bit instruction

ABS
DABS
Absolute value

ADD
DADD
Binary addition

ALT
–
Alternating between ON and OFF
AND&
DAND&
–
S1&S2
AND^
DAND^
–
S1^S2
AND|
DAND|
–
S1|S2
234 AND<
A
C
D
E
5-10
Page
No.
5-84
5-35
5-75
5-126
5-126
5-126
DAND<
–
S1＜S2
5
7
5-129
–
–
–
–
–
–

–
Connecting falling-edge detection in series
Connecting rising-edge detection in series
Resetting an annunciator
Driving an annunciator
3
3
1
7
–
–
–
–
4-10
4-10
5-67
5-66
237 AND<=
DAND<=
–
S1≦ S2
5
7
5-129
236 AND<>
DAND<>
–
S1≠S2
5
7
5-129
232 AND=
DAND=
–
S1＝S2
5
7
5-129
233 AND>
DAND>
–
S1＞S2
5
7
5-129
238 AND>=
DAND>=
–
S1≧ S2
5
7
5-129
DACOS
DASIN
DATAN



–
–
–
6
6
6
5-116
5-115
5-117
18 BCD
DBCD

5
5
5-33
19 BIN
DBIN

5
5
5-34
–
DBON
–
–
DCOS
DCOSH
–
–
DCML
DCMP
DCNT
DDEC
–
DDEG
DDIV
–
DADDR
DDIVR
DEADD


–







–








Arccosine of a binary floating-point value
Arcsine of a binary floating-point value
Arctangent of a binary floating-point value
Converting a binary value into a binary-coded
decimal value
Converting a binary-coded decimal value into a
binary value
Transferring values
Checking the state of a bit
Returning to a busbar
Calling a subroutine
Cosine of a binary floating-point value
Hyperbolic cosine of a binary floating-point value
Conditional jump
Negated conditional jump
Inverting bits
Comparing values
16-bit counter
Subtracting one from a binary value
Decoder
Converting a radian to a degree
Binary division
Encoder
Floating-point addition
Floating-point division
Binary floating-point addition
7
7
1
3
5
–
3
3
5
7
5
3
7
–
7
7
–
–
7
–
13
–
–
6
6
–
–
9
9
6
3
–
6
9
–
13
13
9
5-29
5-64
5-141
5-16
5-111
5-119
5-13
5-139
5-28
5-22
4-9
5-41
5-59
5-98
5-39
5-61
5-121
5-124
5-99
93
92
47
46
134
133
135
B
Step
16-bit 32-bit
3
5
7
9
3
–
5
7
5
7
5
7
15
44
258
01
131
137
00
256
14
10
97
25
41
117
23
42
172
175
120
ANDF
ANDP
ANR
ANS
–
–
–
BMOV
BON
BRET
CALL
–
–
CJ
CJN
CML
CMP
CNT
DEC
DECO
–
DIV
ENCO
–
–
–
DVP-10PM Application Manual
5
Type API
E
110
123
122
127
121
124
111
112
174
173
49
F
16
78
24
I
J
L
M
N
O
129
257
215
217
216
Applied Instructions and Basic Usage
Instruction code
Step
Pulse
Function
16-bit
32-bit instruction
16-bit 32-bit

–
DECMP
Comparing binary floating-point values
7
9

–
DEDIV
Binary floating-point division
7
9

–
DEMUL
Binary floating-point multiplication
7
9

–
DESQR
Square root of a binary floating-point value
5
6

–
DESUB
Binary floating-point subtraction
7
9

–
DEXP
Exponent of a binary floating-point value
–
6

–
DEZCP
Binary floating-point zonal comparison
9
12

–
DMOVP
Transferring a floating-point value
–
9

–
DMULR
Floating-point multiplication
–
13

DSUBR
Floating-point subtraction
–
13
–
Converting a binary integer into a binary

–
DFLT
–
6
floating-point value

FMOV
DFMOV
Transferring a value to several devices
7
13
Reading data from a control register in a special

FROM
DFROM
9
12
module

INC
DINC
Adding one to a binary value
3
3
–
Converting a binary floating-point value into a

DINT
–
6
binary integer
JMP
–
–
Unconditional jump
3
–
LD&
DLD&
–
S1&S2
5
7
LD^
DLD^
–
S1^S2
5
7
LD|
DLD|
–
S1|S2
5
7
Page
No.
5-94
5-102
5-101
5-106
5-100
5-103
5-95
5-96
5-123
5-122
5-70
5-31
5-80
5-40
5-108
5-140
5-125
5-125
5-125
226 LD<
DLD<
–
S1＜S2
5
7
5-128
229 LD<=
DLD<=
–
S1≦ S2
5
7
5-128
228 LD<>
DLD<>
–
S1≠S2
5
7
5-128
224 LD=
DLD=
–
S1＝S2
5
7
5-128
225 LD>
DLD>
–
S1＞S2
5
7
5-128
230 LD>=
DLD>=
–
S1≧ S2
5
7
5-128
DLN
DLOG
–
–
DMEAN
–
–
–
DMOV
DMUL
DNEG
DOR&
DOR^
DOR|


–
–


–
–



–
–
–
Natural logarithm of a binary floating-point value
Logarithm of a binary floating-point value
Starting rising-edge detection
Starting falling-edge detection
Mean
Converting a 16-bit value into a 32-bit value
Reading Modbus data
Writing Modbus data
Transferring a value
Binary multiplication
Taking the two’s complement of a value
S1&S2
S1^S2
S1|S2
–
–
3
3
7
6
7
7
5
7
3
5
5
5
6
9
–
–
13
–
–
–
6
9
3
7
7
7
5-104
5-105
4-9
4-10
5-65
5-142
5-85
5-89
5-24
5-38
5-45
5-127
5-127
5-127
242 OR<
DOR<
–
S1＜S2
5
7
5-130
245 OR<=
DOR<=
–
S1≦ S2
5
7
5-130
244 OR<>
DOR<>
–
S1≠S2
5
7
5-130
240 OR=
DOR=
–
S1＝S2
5
7
5-130
241 OR>
DOR>
–
S1＞S2
5
7
5-130
125
126
90
91
45
259
100
101
12
22
29
221
223
222
–
–
LDP
LDF
MEAN
MMOV
MODRD
MODWR
MOV
MUL
NEG
OR&
OR^
OR|
DVP-10PM Application Manual
5-11
5 Applied Instructions and Basic Usage
Type API
Instruction code
Pulse
16-bit
32-bit instruction
246 OR>=
O
P
R
S
T
DOR>=
–
S1≧ S2
5
7
5-130
ORF
ORP
PLF
PLS
–
–
RAMP
RAND
RCL
RCR
REF
RMOV
ROL
ROR
RPE
RPT
SCAL
SCLP
SER
SFRD
SFTL
SFTR
SFWR
SMOV
SORT
–
–
SQR
SRET
SUB
SUM
–
–
–
–
DPOW
DRAD
DRAMP
DRAND
DRCL
DRCR
–
–
DROL
DROR
–
–
–
DSCLP
DSER
–
–
–
–
DSORT
DSIN
DSINH
DSQR
–
DSUB
DSUM
–
–
–
–


–







–
–








–



–


3
3
3
3
–
–
9
7
5
5
5
6
5
5
1
3
9
7
9
7
9
9
7
11
11
5
–
5
1
7
5
–
–
–
–
9
6
17
13
9
9
–
9
9
–
–
13
17
–
–
–
–
–
21
6
6
9
–
9
9
4-11
4-11
4-12
4-12
5-107
5-97
5-76
5-132
5-50
5-49
5-72
5-143
5-48
5-47
5-21
5-20
5-133
5-135
5-73
5-57
5-52
5-51
5-56
5-25
5-78
5-109
5-118
5-69
5-17
5-37
5-63
147 SWAP
DSWAP

Connecting falling-edge detection in parallel
Connecting rising-edge detection in parallel
Falling-edge output
Rising-edge output
Power of a floating-point value
Converting a degree to a radian
Ramp
Random value
Rotating bits leftwards with a carry flag
Rotating bits rightward with a carry flag
Refreshing the states of I/O devices
Converting a 32-bit value into a 16-bit value
Rotating bits leftwards
Rotating bits rightwards
End of a nested loop
Start of a nested loop (only one loop)
Scale
Parameter scale
Searching data
Moving a value and reading it from a word device
Moving the states of bit devices leftwards
Moving the states of bit devices rightwards
Moving a value and writing it into a word device
Transferring digits
Sorting data
Sine of a binary floating-point value
Hyperbolic sine of a binary floating-point value
Square root of a binary value
Indicating that a subroutine ends
Binary subtraction
Number of bits which are ON
Interchanging the high byte in a device with the
low byte in the device
Tangent of a binary floating-point value
Hyperbolic tangent of a binary floating-point
value
16-bit timer
Writing data into a control register in a special
module
Logical AND operation
Watchdog timer
Logical OR operation
Moving the values in word devices leftwards
Moving the values in word devices rightwards
Logical exclusive OR operation
Interchanging values
Zonal comparison
Resetting a zone
3
5
5-131
5
6
5-113
–
6
5-120
5
–
4-8
9
13
5-81
7
1
7
9
9
7
5
9
5
9
–
9
–
–
9
9
12
–
5-42
5-19
5-43
5-55
5-53
5-44
5-32
5-23
5-58
95
94
99
89
128
116
67
154
33
32
50
260
31
30
09
08
202
203
61
39
35
34
38
13
69
130
136
48
02
21
43
132
–
DTAN

138
–
DTANH

–
–
DTO

DWAND
–
DWOR
–
–
DWXOR
DXCH
DZCP
–









96 TMR
79 TO
W
X
Z
5-12
Step
Page
16-bit 32-bit No.
Function
26
07
27
37
36
28
17
11
40
WAND
WDT
WOR
WSFL
WSFR
WXOR
XCH
ZCP
ZRST
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
5.6 Descriptions of the Applied Instructions
API
CJ
00
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
V
 Note: S can be a pointer.
S can be a pointer in the range of P0 to P255.
A pointer can not be modified by a V device or a Z device.
Z
16-bit instruction (3 steps)
Continuity
CJ
CJP
instruction
E xp la nat io n




E xamp le 1

Pulse
instruction
32-bit instruction
－



Applicable model
10PM
Conditional jump
－
－
－
Flag: None
S: Pointer which points to a jump destination
If some part of the main program O100 does not need to be executed, users
can use CJ or CJP to shorten the scan time. Besides, if a dual output is used,
users can use CJ or CJP.
If the program specified by a pointer is prior to the instruction CJ, a watchdog
timer error will occur, and the main program will not be executed. Please use
the instruction carefully.
The instruction CJ can specify the same pointer repeatedly. The pointer
specified by CJ can not be the same as the pointer specified by CALL,
otherwise an error will occur.
When the instruction CJ/CJP in a program is executed, the actions of the
devices in the program are as follows.
1. The states of the Y devices, the states of the M devices, and the states of
the S devices in the program remain the same as those before the
execution of the jump.
2. The 10 millisecond timers in the program stop counting.
3. The general counters in the program stop counting, and the general applied
instructions in the program are not executed.
4. If the instructions which are used to reset the timers in the program are
driven before the jump is executed, the timers will still be reset during the
execution of the jump.
When X0 is ON, the execution of the program jumps from address 0 to address
N (P1).
When X0 is OFF, the execution of the program starts from address 0, and the
instruction CJ is not executed.
X0
( Jump instruction )
CJ
0
P1
X1
Y1
P1
N
X2
Y2
DVP-10PM Application Manual
5-13
5 Applied Instructions and Basic Usage

E xamp le 2
States of devices
States of contacts
States of contacts
before the execution during the execution
of CJ
of CJ
M1, M2, and M3 are
M1, M2, and M3 are
turned from OFF to
Y devices, OFF.
ON.
M devices,
M1, M2, and M3 are
S devices M1, M2, and M3 are
turned from ON to
ON.
OFF.
M4 is turned from
M4 is OFF.
OFF to ON.
Device
M4 is ON.
10
millisecond
timers
M6 is OFF.
M6 is ON.
M4 is turned from ON
to OFF.
M6 is turned from
OFF to ON.
M6 is turned from ON
to OFF.
M7 and M10 are OFF. M10 is ON/OFF.
C0~C234
Applied
instructions
M7 is OFF. M10 is
ON/OFF.
M10 is ON/OFF.
M11 OFF
M11 is turned from
OFF to ON.
M11 ON
M11 is turned from
ON to OFF.
States of output coils
during the execution
of CJ
Y1*1, M20, and S1 are
OFF.
Y1*1, M20, and S1 are
ON.
The timer T0 does not
count.
The timer T0 stops
counting immediately.
When M0 is turned from
ON to OFF, the timer T0
is reset to 0.
The timer T240 does
not count.
The timer T240 stops
counting immediately.
When M0 is turned from
ON to OFF, the timer
T240 is reset to 0.
The counter C0 does
not count.
C0 stops counting. After
M0 is turned OFF, C0
will resume counting.
The applied instructions
are not executed.
The applied instructions
which are skipped are
not executed, but API
53~API 59 and API
157~API 159 are still
executed,
*1: Y1 is a dual output. When M0 is OFF, Y1 is controlled by M1. When M0 is
ON, Y1 is controlled by M12.
5-14
DVP-10PM Application Manual
5

Applied Instructions and Basic Usage
Y1 is a dual output. When M0 is OFF, Y1 is controlled by M1. When M0 is ON,
Y1 is controlled by M12.
M0
CJ
P0
M1
Y1
M2
M20
M3
S1
M4
K10
TMR
T0
RST
T240
TMR
T240
RST
C0
CNT
C0
K20
MOV
K3
D0
M5
M6
K1000
M7
M10
M11
P0
M0
CJ
P63
M12
Y1
P63
M13
DVP-10PM Application Manual
RST
T240
RST
C0
RST
D0
5-15
5 Applied Instructions and Basic Usage
API
CALL P
01

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
V
 Note: S can be a pointer.
S can be a pointer in the range of P0 to P255.
A pointer can not be modified by a V device or a Z device.
Z
16-bit instruction (3 steps)
Continuity
CALL
CALLP
instruction
E xp la nat io n


5-16
Pulse
instruction
32-bit instruction
－



Applicable model
10PM
Calling a subroutine
－
－
－
Flag: None
S: Pointer which points to a subroutine
The subroutine to which a pointer points should be written after M102, M2 and
the instruction SRET.
The pointer used by the instruction CALL can not be the same as the pointers
used by the instructions CJ, CJN, and JMP.
If only the instruction CALL is used, the same subroutine can be called
repeatedly.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
SRET
02
Indicating that a subroutine ends

Bit device
X
Y
M
Applicable model
10PM
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
V
 Note: There is no operand.
Z
16-bit instruction (1 step)
Continuity
SRET
－
instruction
－
32-bit instruction
The instruction does not need to be driven by a contact.
－

－
－
－
Flag: None

The instruction SRET indicates that a soubroutine ends. After the execution of
a subroutine in a program is complete, the instruction following CALL which
calls the subroutine in the main program O100 will be executed.

When X0 is ON, the instruction CALL is executed, and the execution of the
program jumps to the subroutine to which P2 points. When the instruction
SRET is executed, the execution of the program returns to address 24.
E xp la nat io n
E xamp le 1
X0
C ALL
20
P2
P2 points to a s ubr outine.
X1
24
Y1
Y0
Subroutine
Y0

E xamp le 2





When X20 is turned from OFF to ON, the instruction CALL P10 is executed,
and the execution of the program jumps to the subroutine to which P10 points.
When X11 is ON, the instruction CALL P11 is executed, and the execution of
the program jumps to the subroutine to which P11 points.
When X12 is ON, the instruction CALL P12 is executed, and the execution of
the program jumps to the subroutine to which P12 points.
When X13 is ON, the instruction CALL P13 is executed, and the execution of
the program jumps to the subroutine to which P13 points.
When X14 is ON, the instruction CALL P14 is executed, and the execution of
the program jumps to the subroutine to which P14 points. When the instruction
SRET is executed, the execution of the program returns to the previous
subroutine.
When the instruction SRET in the subroutine to which P10 points is executed,
the execution of the program returns to the main program.
DVP-10PM Application Manual
5-17
5 Applied Instructions and Basic Usage
X0
X2
IN C
D0
P1 2
IN C
Y1 0
Y0
X1 3
X2 0
C ALL
P1 0
X0
IN C
Main
Pr ogr am
D1
P1 3
IN C
D 31
Su brout in e
Y11
SR ET
FEN D
X2
X2
IN C
D 10
IN C
P1 3
D 40
Y1 2
Y2
X11
X1 4
C ALL
P11
Su brout in e
X2
IN C
C ALL
P1 4
IN C
D 41
Su brout in e
X2
D 11
Y1 3
Y5
SR ET
SR ET
X2
X2
IN C
P11
C ALL
X2
Y1
P1 0
D 30
D 20
P1 4
IN C
D 50
Y1 4
Y6
Su brout in e
X1 2
C ALL
SR ET
P1 2
Su brout in e
X2
IN C
D 21
EN D
Y7
SR ET
5-18
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
WDT
07
Bit device
X
Y
M
Applicable model
10PM

Watchdog timer
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
 Note: There is no operand.
The instruction does not need to be driven by a contact.
V
Z
16-bit instruction (1 step)
Continuity
WDT
WDTP
instruction
32-bit instruction
－


E xp la nat io n

Pulse
instruction
－
－
－
Flag: None
The instruction WDT is used to reset the watchdog timer in a DVP-10PM series
motion controller. If the scan time in a DVP-10PM series motion controller
exceeds 200 milliseconds, the ERROR LED indicator of the motion controller
will be ON, and users will have to disconnect the motion control module. After
the users connect the motion controller again, the motion controller will judge
its state according to the setting of the “STOP/RUN switch” switch. If there is no
“STOP/RUN switch” switch, the motion controller will stop running
automatically.
The points when a watchdog timer acts are as follows.
 The system is abnormal.
 The execution of a program takes much time, and therefore the scan time
is greater than the setting value in D1000. There are two ways users can
use to improve the situation.
1. Using the instruction WDT
O100
M102
WDT
T1
T2
2. Changing the value in D1000 (The default setting is 200 milliseconds.)

E xa mple
Suppose the scan time is 300 milliseconds. After the program is divided into
two parts, and the instruction WDT is inserted between these two parts, the
time it takes to scan either the first part of the program or the second part of the
program will be less than 200 milliseconds.
300ms pr ogram
M102
150ms pr ogram
T he program is divided into two par ts .
T he time it takes to s can either the fi rst
part of the program or the s econd part
of the pr ogr am is less than 200 mil liseconds.
X0
WDT
T he watc hdog ti mer is r eset.
150ms pr ogram
M102
A dditio nal
re mark


The instruction WDT is executed when a condition is met. Users can make the
instruction WDT executed only in one scan cycle by writing a program. They
can use the pulse instruction WDTP.
The default setting of a watchdog timer is 200 milliseconds. Users can set a
watchdog timer by means of D1000.
DVP-10PM Application Manual
5-19
5 Applied Instructions and Basic Usage
API
S
RPT
08
Start of a nested loop

Bit device
X
Y
M
Word device
S
S
K
H
＊
＊
KnX KnY KnM KnS
＊
＊
＊
＊
T
C
D
V
＊
＊
＊
＊
 Note: The instruction does not need to be driven by a contact.
The instruction supports V devices.
Please refer to specifications for more information about device
ranges.
E xp la nat io n
5-20
Applicable model
10PM


Z
16-bit instruction (3 steps)
Continuity
RPT
－
instruction
－
32-bit instruction
－

－
－
－
Flag: None
S: Number of times a loop is executed
There is only one RPT-RPE loop in a program. If there is more than one
RPT-RPE loop in a program, an error will occur.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
RPE
09

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
 Note: There is no operand.
V
Z
16-bit instruction (1 step)
Continuity
RPE
－
instruction
－







－
32-bit instruction
The instruction does not need to be driven by a contact.
E xp la nat io n
Applicable model
10PM
End of a nested loop
－
－
－
Flag: None
RPT in a program specifies that the RPT-RPE loop in the program must be
executed N times.
N is in the range of K1 to K32,767. If N≦K1, N will be regarded as K1.
Users can skip the execution of the RPT-RPE loop in a program by means of
the instruction CJ.
An error will occur if
1. the instruction RPE is before the instruction RPT.
2. there is RPT, but there is no RPE.
3. the number of times RPT is used is not the same as the number of times
RPE is used.
There is only one RPT-RPE loop in a program. If there is more than one
RPT-RPE loop in a program, an error will occur.
Part A can be executed three times by means of a RPT-RPE loop.
E xamp le 1
RPT
K3
A
RPE

E xamp le 2
When X0.7 is OFF, the program between RPT and RPE is executed. When
X0.7 is ON, the instruction CJ is executed, the subroutine to which P6 points is
executed, and the program between RPT and RPE is skipped.
X7
CJ
P6
MOV
K0
RPT
K3
MOV
D0
INC
D0
M0
D0
M0
D1
RPE
P6
X10
Y10
DVP-10PM Application Manual
5-21
5 Applied Instructions and Basic Usage
API
10 D CMP P

Bit device
X
H
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊

＊
M
Word device
K
D
Y
＊
S
Applicable model
10PM
Comparing values
KnX KnY KnM KnS
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
16-bit instruction (7 steps)
Continuity
CMP
CMPP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
Pulse
DCMP
DCMPP
instruction
instruction

Flag: None
Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n


E xa mple




S1: Comparison value 1; S2: Comparison value 2; D: Comparison result
The instruction is used to compare the value in S1 with that in S2. The
comparison result is stored in D.
The operand D occupies three consecutive devices.
If the operand D is Y0, Y0, Y1, and Y2 will be occupied automatically.
When X10 is ON, the instruction CMP is executed, and Y0, Y1, or Y2 is ON.
When X10 is OFF, the execution of the instruction CMP stops, and the states
of Y0, Y1, and Y2 remain unchanged.
If users want to get the result that K10≧ the value in D10, they have to connect
Y0 and Y1 in series. If users want to get the result that K10≦ the value in D10,
they have to connect Y1 and Y2 in series. If users want to get the result that
K10≠the value in D10, they have to connect Y0, Y1, and Y2 in series.
X10
C MP
K1 0
D 10
Y0
Y0
If K1 0>th e va lu e in D1 0 , Y0 wi ll b e O N.
Y1
If K1 0=th e va lu e in D1 0 , Y1 wi ll b e O N.
Y2
If K1 0<th e va lu e in D1 0 , Y2 wi ll b e O N.
5-22
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
11 D ZCP P

Bit device
X
H
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
S
＊
＊
＊
＊
＊
M
Word device
K
D
Y
＊
S
Applicable model
10PM
Zonal comparison
KnX KnY KnM KnS
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
16-bit instruction (9 steps)
Continuity
ZCP
ZCPP
instruction
Pulse
instruction
32-bit instruction (12 steps)
Continuity
DZCP
DZCPP
instruction
Pulse
instruction

Flag: None
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.

E xp la nat io n
E xa mple





S1: Minimum value; S2: Maximum value; S: Comparison value; D: Comparison
result
The instruction is used to compare the value in S with that in S1, and compare
the value in S with that in S2. The comparison result is stored in D.
The value in S2 must be greater than that in S1.
The operand D occupies three consecutive devices.
If the operand D is M0, M0, M1, and M2 will be occupied automatically.
When X0 is ON, the instruction ZCP is executed, and M0, M1, or M2 is ON.
When X0 is OFF, the execution of the instruction ZCP stops, and the states of
M0, M1, and M2 remain unchanged.
X0
ZC P
K1 0
K1 00
C 10
M0
M0
If K1 0 >th e va lu e in C1 0, M0 wi ll b e O N.
M1
If K1 0<th
= K1 00 , M1 w il l be ON .
= e va lu e in C1 0<
M2
If th e va lu e i n C 10 > K10 0, M2 wi ll b e O N.
DVP-10PM Application Manual
5-23
5 Applied Instructions and Basic Usage
API
Applicable model
12 D
MOV
Transferring a value
P

Bit device
X
Y
M
Word device
S
S
K
H
＊
＊
D
KnX KnY KnM KnS
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n
10PM




E xa mple

16-bit instruction (5 steps)
Continuity
MOV
MOVP
instruction
Pulse
instruction
32-bit instruction (6 steps)
Continuity
Pulse
DMOV
DMOVP
instruction
instruction

Flag: None
S: Source; D: Destination
When the instruction is executed, the value in S is transferred to D. When the
instruction is not executed, the value in D is unchanged.
If an operation result gotten is a 32-bit value, users can only move the
operation result by means of the instruction DMOV.
If users want to move a 16-bit value, they have to use the instruction MOV.
1. When X0 is OFF, the value in D0 is unchanged. When X0 is ON, the value
K10 is transferred to the data register D0.
2. When X1 is OFF, the value in D10 is unchanged. When X1 is ON, the
value in K2M4 is transferred to the data register D10.
If users want to move a 32-bit value, they have to use the instruction DMOV.
When X2 is OFF, the values in (D31, D30) and (D41, D40) are unchanged.
When X2 is ON, the value in (D21, D20) is transferred to (D31, D30), and the
value in (D51, D50) is transferred to (D41, D40).
X0
MOV
K10
D0
MOV
K2M4
D10
DMOV
D20
D30
DMOV
D50
D40
X1
X2
5-24
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
13
SMOV
Transferring digits
P
Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
S
＊
m1
＊
m2
＊
D
V
Z
＊
＊
＊
＊
＊
16-bit instruction (11 steps)
Continuity
Pulse
SMOV
SMOVP
instruction
instruction
32-bit instruction
─
─

＊
＊
＊
＊
C
＊
D
n
＊
T
＊
＊
＊
＊
＊
＊
Applicable model
10PM

─
─
Flag: M1168
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in
the decimal numeral system, e.g. K1X0 (octal numeral system),
K4SY20 (octal numeral system), K1M0 (decimal numeral system),
and K4S16 (decimal numeral system).

E xp la nat io n





S: Data source; m1: Start digit which will be transferred from the source device;
m2: Number of digits which will be transferred; D: Data destination; n: Start
digit where the source data is stored in the destination device
The value used by the instruction is a binary-coded decimal value (M1168 is
OFF).
The value used by SMOV is a binary-coded decimal value. When the
instruction is executed, the m2 digits of the four-digit binary-code decimal value
in S which start from the m1th digit of the four-digit binary-code decimal value in
S are transferred to the m2 digits of the four-digit binary-code decimal value in
D which starts from the nth digit of the four-digit binary-code decimal value in D.
The value used by the instruction is a binary value (M1168 is ON).
When the instruction is executed, the m2 digits of the four-digit decimal value in
S which start from the m1th digit of the four-digit decimal value in S are
transferred to the m2 digits of the four-digit decimal value in D which starts from
the nth digit of the four-digit decimal value in D.
m1 is in the range of 1 to 4.
m2 is in the range of 1 to m1.(It can not be greater than m1.)
n is in the range of m2 to 4. (It can not be less than m2.)
DVP-10PM Application Manual
5-25
5 Applied Instructions and Basic Usage

E xamp le 1

When M1168 is OFF, the value used by SMOV is a binary-coded decimal
value. When X0 is ON, the two digits of the decimal value in D10 which start
from the fourth digit of the decimal value (the digit in the thousands place of the
decimal value) in D10 are transferred to the two digits of the decimal value in
D20 which start from the third digit of the decimal value (the digit in the
hundreds place of the decimal value) in D20. After the instruction is executed,
the digits in the thousands place of the decimal value (103) and the ones place
of the decimal value (100) in D20 will be unchanged.
If the binary-coded decimal value used is not in the range of 0 to 9,999, an
operation error will occur, the instruction will not executed, M1067 will be ON,
and the error code in D1067 will be 0E18 (hexadecimal value).
M1001
M116 8
X0
SMOV
D 10
K4
K2
D 20
K3
D10 (16- bit binary value)
Covers ion
3
10
2
10
1
Unchanged
3
10
0
10
D10 (4- digit binary -coded deci mal val ue)
10
Trans fer rri ng digits
Unchanged
2
10
1
0
10
D20 ( 4- digit binary -coded deci mal val ue )
10
Covers ion
D20 ( 16- bit binary value )


E xamp le 2
Suppose the value in D10 is K1234, and the value in D20 is K5678. After the
instruction is executed, the value in D10 will be unchanged, and the value in
D20 is K5128.
When M1168 is ON, the value used by SMOV is a is binary value. When the
instruction SMOV is executed, the binary values in D10 and D20 are not
converted into the binary-coded decimal values, and evey digit which is
transferred is composed of four bits.
M1000
M116 8
X0
SMOV
th
rd
D 10
nd
K4
K2
D 20
K3
st
4 digit 3 digit 2 digit 1 digit
D10 ( 16- bit binary value )
Trans fer rri ng digits
D20 ( 16- bit binary value )
th
rd
nd
st
4 digit 3 digit 2 digit 1 digit
Unchanged

5-26
Unchanged
Suppose the value in D10 is H1234, and the value in D20 is H5678. After the
instruction is executed, the value in D10 will be unchanged, and the value in
D20 is H5128.
DVP-10PM Application Manual
5

E xamp le 3
Applied Instructions and Basic Usage
The two digits of the value of the DIP switch on the right are transferred to the
the two digits of the value in D2 which start from the second digit of the value in
D2, and the one digit of the value of the DIP switch on the left is transferred to
the the first digit of the value in D1. The instruction SMOV can be used to
transfer the first digit of the value in D1 to the third digit of the value in D2. In
other words, the two DIP switches can be combined into one DIP switch by
means of the instruction SMOV.
2
1
0
10
10
10
6
4
2
8
1
8
1
8
X13~X10
1
X27~X20
1 0PM
M1001
M1168
M1000
DVP-10PM Application Manual
BIN
K2X20
D2
(X 20~ X27) B inar y- code decimal value
2 digits
D2 ( Binary value)
BIN
K1X10
D1
(X 10~ X13) B inar y- code decimal value
1 digit
D1 ( Binary value )
SMO V
D1
K1
K1
D2
K3
5-27
5 Applied Instructions and Basic Usage
API
14 D
CML
Inverting bits
P

Bit device
X
Y
M
Word device
S
S
K
H
＊
＊
KnX KnY KnM KnS
＊
D

T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in
the decimal numeral system, e.g. K1X0 (octal numeral system),
K4SY20 (octal numeral system), K1M0 (decimal numeral system),
and K4S16 (decimal numeral system).
E xp la nat io n
Applicable model
10PM
16-bit instruction (5 steps)
Continuity
CML
CMLP
instruction
Pulse
instruction
32-bit instruction (6 steps)
Continuity
Pulse
DCMLP
instruction
instruction
DCML

Flag: None


S: Source; D: Destination
The instruction is used to invert the bits in S (01 and 10), and transfer the
inversion result to D.

When X10 is ON, bit 0~bit 3 in D1 are inverted, and the inversion result is
transferred to Y0~Y3.
E xamp le 1
X10
D1
b 15
1
0
CML
1
0
K1Y0
D1
1
0
1
0
1
0
1
0
b3
1
b2
0
b1
1
b0
0
0
1
0
1
Sig n b it (0 : Po sit ive n umb e r; 1 : Ne ga ti ve nu mb er
N o d ata

E xamp le 2
Th e re ve rsal re sul t
is tra nsfe rre d .
The circuits below can be represented by means of the instruction CML.
X000
M0
X001
M1
X002
M2
X003
M3
M1000
CML
X000
M0
K1X0
K1M0
Normally- open contact
X001
M1
X002
M2
X003
M3
5-28
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
15
BMOV
Transferring values
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
S
D
＊
n

Applicable model
10PM
T
C
D
V
Z
16-bit instruction (7 steps)
Continuity
Pulse
BMOV
BMOVP
instruction
instruction
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
－
＊
＊
＊

＊
32-bit instruction
－
－
－
Flag: None
Note: Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).
E xp la nat io n




S: Source; D: Destination; n: Length
The instruction is used to transfer the values in registers to new registers. The
values in the n registers starting from S are transferred to the n registers
starting from D. If n is not in the range available, only the values in registers
available will be transferred.
n is in the range of 1 to 512.
When X2.0 is ON, the values in D0~D3 are transferred to D20~D23.
X20
E xamp le 1
BMOV

E xamp le 2
D0
D20
K4
D0
D20
D1
D21
D2
D22
D3
D23
n=4
If users specify KnM and KnY, n in KnM must be the same as n in KnY.
M1000
DVP-10PM Application Manual
BMOV
K1M0
K1Y0
K3
M0
Y0
M1
Y1
M2
Y2
M3
Y3
M4
Y4
M5
Y5
M6
Y6
M7
Y7
M8
Y10
M9
Y11
M10
Y12
M11
Y13
n=3
5-29
5 Applied Instructions and Basic Usage

E xamp le 3
In order to prevent the error which results from the overlap between source
devices and destination devices, the values in the source devices are
transferred in the following way.
1. The device number of S is greater than the device number of D. The values
in D20~D22 are transferred in the order .
X20
BMOV
D20
D19
K3
D20
D21
D22
1
2
3
D19
D20
D21
2. The device number of S is less than the device number of D. The values in
D10~D12 are transferred in the order . The values in D11~D13
are the same as the value in D10.
X21
BMOV
D10
D11
K3
D10
D11
D12
5-30
3
2
1
D11
D13
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
FMOV
16
Transferring a value to several devices
P

Bit device
X
Y
M
Applicable model
10PM
Word device
S
K
H
KnX KnY KnM KnS
＊
S
D
＊
n
T
C
D
V
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
16-bit instruction (7 steps)
Continuity
FMOV
FMOVP
instruction
Z
32-bit instruction
Continuity
instruction
DFMOV
＊

 Note: The instruction supports V devices and Z devices. (If the 16-bit
Pulse
instruction
DFMOVP Pulse
instruction
Flag: None
instruction is used, Z devices can not be used. If the 32-bit instruction
is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).
E xp la nat io n




E xa mple
S: Source; D: Destination; n: Length
The value in S is transferred to the n registers starting from D. If n is not in the
range available, a value will only be transferred to registers available.
n is in the range of 1 to 512.
When X20 is ON, K10 is transferred to the 5 registers starting from D10
(D10~D14).
X20
FMOV
K10
DVP-10PM Application Manual
K10
D10
K10
D10
K10
D11
K10
D12
K10
D13
K10
D14
K5
n=5
5-31
5 Applied Instructions and Basic Usage
API
17 D
XCH
Interchanging values
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
V
Z
D1
＊
＊
＊
＊
＊
＊
＊
＊
D2
＊
＊
＊
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit instruction
is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).
E xp la nat io n
Pulse
instruction
32-bit instruction (9 steps)
Continuity DFXCHP Pulse
instruction
instruction
DXCH

Flag: None
D1: Value which is interchanged; D2: Value which is interchanged
The instruction is used to interchange the value in D1 with the value in D2.
It is suggested that users should use the pulse instruction XCHP.

When X0 is turned from OFF to ON, the value in D20 is interchanged with the
value in D40.
Before the instruction
is executed
X0
XC HP



D 20
D 40
After the instruction
is executed
D 20
1 20
40
D 20
D 40
40
1 20
D 40
16-bit instruction: If D1 is the same as D2, and M1303 is ON, the high 8 bits are
interchanged with the low 8 bits.
32-bit instruction: If D1 is the same as D2, and M1303 is ON, the high 16 bits
are interchanged with the low 16 bits.
When X0 is ON, and M1303 is ON, the high 8 bits in D100 are interchanged
with the high 8 bits in D101, and the low 8 bits in D100 are interchanged with
the low 8 bits in D101.
X0
Before the instruction
is executed
M1 30 3
D XCH P
5-32
16-bit instruction (5 steps)
Continuity
XCH
XCHP
instruction



E xa mple
A dditio nal
re mark
Applicable model
10PM
D 10 0
D 10 1
After the instruction
is executed
D 10 0 L ow
9
8
D 10 0 L ow
D 10 0 H ig h
20
40
D 10 0 H ig h
D 10 1 L ow
8
9
D 10 1 L ow
D 10 1 H ig h
40
20
D 10 1 H ig h
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
18 D
BCD
Converting a binary value into a
binary-coded decimal value
P
Bit device
X
Y
M
Word device
S
K
H
＊
S
D

KnX KnY KnM KnS
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.

E xp la nat io n



E xa mple
Applicable model
10PM

16-bit instruction (5 steps)
Continuity
BCD
BCDP
instruction
Pulse
instruction
32-bit instruction (6 steps)
Continuity
Pulse
DBCDP
instruction
instruction
DBCD

Flags
Ox
M1793
O100
M1953
Operation error flag
The binary value in S is converted into a binary-coded decimal value, and the
conversion result is transferred to D.
If a binary value is converted to a binary-coded decimal value which is not in
the range of 0 to 9,999, the instruction BCD will not be executed. If a binary
value is converted to a binary-coded decimal value which is not in the range of
0 to 99,999,999, the instruction DBCD will not be executed.
BCD can be used to convert the binary value in a positioning unit to a
binary-coded decimal value, and transfer the conversion result to an external
device, e.g. a seven-segment display.
When X0 is ON, the binary value in D10 is converted into a binary-coded
decimal value, and the digit in the ones place of the conversion result is stored
in K1Y0 (Y0~Y3).
X0
BCD
D10
K1Y0
If D10=001E (hexadecimal value)=0030 (decimal value), Y0~Y3=0000 (binary
value).
DVP-10PM Application Manual
5-33
5 Applied Instructions and Basic Usage
API
W
19
D
BIN
Converting a binary-coded decimal value
into a binary value
P
Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
S
D
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit instruction
is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n





E xa mple
10PM

16-bit instruction (5 steps)
Continuity
BIN
BINP
instruction
Pulse
instruction
32-bit instruction (6 steps)
Continuity
DBINP
instruction
Pulse
instruction
DBIN

Flags
Ox
M1793
O100
M1953
Operation error flag
S: Source; D: Conversion result
The binary-coded decimal value in S is converted into a binary value, and the
conversion result is transferred to D.
The 16-bit binary-coded decimal value in S should be in the range of 0 to 9,999,
and the 32-bit binary-coded decimal value in S should be in the range of 0 to
99,999,999.
Decimal constants and hexadecimal constants are converted into binary values
automatically. Users do not need to use the instruction.
When X0 is ON, the binary-coded decimal value in K1M0 is converted into a
binary value, and the conversion result is stored in D10.
X0
BIN
A dditio nal
re mark
Applicable model

K1M0
D10
Applications of the instructions BCD and BIN:
1. If a DVP-10PM series motion controller wants to read a binary-coded
decimal value created by a DIP switch, users have to use the instruction BIN
to convert the value into a binary value, and store the conversion result in
the DVP-10PM series motion controller.
2. If users want to display a value stored in a DVP-10PM series motion
controller on a seven-segment display on which binary-coded decimal
values can be displayed, they have to use the instruction BCD to convert the
value into a binary-coded decimal value, and transfer the conversion result
to the seven-segment display.
3. When X0 is ON, the binary-coded decimal value in K4M0 is converted into a
binary value, and the conversion result is stored in D100. Subsequently, the
binary value in D100 is converted into a binary-coded decimal value, and
the conversion result is stored in K4Y20.
X0
5-34
BIN
K4X0
D100
BCD
D100
K4Y20
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
20 D
ADD
Binary addition
P

Bit device
X
Y
M
Word device
S
K
H
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
KnX KnY KnM KnS
＊
D
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n





E xamp le 1
16-bit instruction (7 steps)
Continuity
ADD
ADDP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
Pulse
DADDP
instruction
instruction
DADD

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Augend; S2: Addend; D: Sum
The binary value in S2 is added to the binary value in S1, and the sum is stored
in D.
The highest bit in S1 and the highest bit in S2 are sign bits. If the sign bit in a
register is 0, the value in the register is a positive value. If the sign bit in a
register is 1, the value in the register is a negative value.
The flags related to 16-bit binary addition and 32-bit binary addition are listed
below.
16-bit binary addition:
1. If the operation result gotten is 0, a zero flag will be ON.
2. If the operation result gotten is less than –32,768, a borrow flag will be ON.
3. If the operation result gotten is greater than 32,767, a carry flag will be ON.
32-bit binary addition:
1. If the operation result gotten is 0, a zero flag will be ON.
2. If the operation result gotten is less than –2,147,483,648, a borrow flag will
be ON.
3. If the operation result gotten is greater than 2,147,483,647, a carry flag will
be ON.
16-bit binary addition: When X0 is ON, the addend in D10 is added to the
augend in D0, and the sum is stored in D20.
X0
ADD

E xamp le 2
10PM
D0
D10
D20
32-bit binary addition: When X1 is ON, the value in (D41, D40) is added to the
augend in (D31, D30), and the sum is stored in (D51, D50).
X1
DADD
DVP-10PM Application Manual
D30
D40
D50
5-35
5 Applied Instructions and Basic Usage
A dditio nal
re mark

The relations between flags and values are shown below.
Zero flag
16-bit addition: Zero flag
-2、-1、0、-32,768
Borrow fl ag
-1、0、1
Negative number:
The value of the
highest bit i s 1.
-2、-1、0、-2,147,483,648
5-36
32,767、0、1 、2
Positive number:
The value of the
highest bit i s 0.
Zero flag
32-bit addition: Zero flag
Borrow fl ag
Zero flag
-1、0、1
Negative number:
The value of the
highest bit i s 1.
Carry flag
Zero flag
2,147,483,647 、0、1、2
Positive number:
The value of the
highest bit i s 0.
Carry flag
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
21 D
SUB
Binary subtraction
P

Bit device
X
Y
M
Word device
S
K
H
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
KnX KnY KnM KnS
＊
D
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n






E xamp le 1
16-bit instruction (7 steps)
Continuity
SUB
SUBP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
DSUBP
instruction
Pulse
instruction
DSUB

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Minuend; S2: Subtrahend; D: Difference
The binary value in S2 is subtracted from the binary value in S1, and the
difference is stored in D.
The highest bit in S1 and the highest bit in S2 are sign bits. If the sign bit in a
register is 0, the value in the register is a positive value. If the sign bit in a
register is 1, the value in the register is a negative value.
The flags related to 16-bit binary subtraction and 32-bit binary subtraction are
listed below.
16-bit binary subtraction:
1. If the operation result gotten is 0, a zero flag will be ON.
2. If the operation result gotten is less than –32,768, a borrow flag will be ON.
3. If the operation result gotten is greater than 32,767, a carry flag will be ON.
32-bit binary subtraction:
1. If the operation result gotten is 0, a zero flag will be ON.
2. If the operation result gotten is less than –2,147,483,648, a borrow flag will
be ON.
3. If the operation result gotten is greater than 2,147,483,647, a carry flag will
be ON.
Please refer to the additional remark on the instruction ADD for more
information about the relations between flags and values.
16-bit binary subtraction: When X0 is ON, the subtrahend in D10 is subtracted
from the minuend in D0, and the difference is stored in D20.
X0
SUB

E xamp le 2
10PM
D0
D10
D20
When X1 is ON, the subtrahend in (D41, D40) is subtracted from the minuend
in (D31, D30), and the difference is stored in (D51, D50).
X1
DSUB
DVP-10PM Application Manual
D30
D40
D50
5-37
5 Applied Instructions and Basic Usage
API
Applicable model
22 D
MUL
Binary multiplication
P

Bit device
X
Y
M
10PM
Word device
S
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
D
16-bit instruction (7 steps)
Continuity
MUL
MULP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
DMULP
instruction
Pulse
instruction
DMUL

 Note: The instruction supports V devices and Z devices. (If the 16-bit
Flag: None
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n



S1: Multiplicand; S2: Multiplier; D: Product
The signed binary value in S1 is multiplied by the singed binary value in S2, and
the product is stored in D. Users have to notice the sign bits in S1, S2, and D
when 16-bit binary multiplication or 32-bit binary multiplication is done.
16-bit binary multiplication
S1
S2
b15..............b0
b15..............b0
b31.........b16 b15...........b0
=
X
Bit 31 is a si gn bit.
(B it 15 in D+1 is a sign bit.)
Bit 15 is a si gn bit. Bit 15 is a si gn bit.

Sign bit=0 (Positive sign); Sign bit=1 (Negative sign)
32-bit binary multiplication
S 1 +1
S 2 +1
S1
b31...b16 b15...b0
S2
E xa mple
D +3
D +2
D +1
D
b63...b48 b47...b32 b31...b16 b15...b0
b31...b16 b15...b0
=
X
Bit 31 is a si gn bit.

D
D +1
Bit 31 is a si gn bit.
Bit 63 is a si gn bit.
(B it 15 in D+3 is a s ign bit.)
Sign bit=0 (Positive sign); Sign bit=1 (Negative sign)
The 16-bit value in D0 is multiplied by the 16-bit value in D10, and the 32-bit
product is stored in (D21, D20). The bits in D21 is the high 16 bits in (D21,
D20), whereas the bits in D20 is the low 16 bits in (D21, D20). Whether the
product is a positive value or a negative value depends on the leftmost bit in
(D21, D20).
X0
5-38
MUL
D0
D10
D20
MUL
D0
D10
K8M0
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
23 D
DIV
Binary division
P

Bit device
X
Y
M
10PM
Word device
S
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
D
 Note: The instruction supports V devices and Z devices. (If the 16-bit
16-bit instruction (7 steps)
Continuity
DIV
DIVP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
DDIVP
instruction
Pulse
instruction
DDIV

Flag: None
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n




S1: Dividend; S2: Divisor; D: Quotient and remainder
The singed binary value in S1 is divided by the signed binary value in S2. The
quotient and the remainder are stored in D. Users have to notice the sign bits
in S1, S2, and D when 16-bit binary division or 32-bit binary division is done.
If the divisor in S2 is 0, the instruciton will not be executed.
16-bit binary division
Quotient
S1
S2
b15..............b0

b15..............b0
/
Remainder
D
D
+1
b15..............b0 b15..............b0
=
32-bit binary division
Remainder
Quotient
S 1 +1
S 2 +1
S1
b15.....b0 b15.....b0
S2
b15.....b0 b15.....b0
/

E xa mple
D +1
D +3
D
D +2
b15.....b0 b15.....b0 b15.....b0 b15.....b0
=
When X0 is ON, the dividend in D0 is divided by the divisor in D10, the quotient
is stored in D20, and the remainder is stored in D21. Whether the quotient and
the remainder are positive values or negative values depends on the leftmost
bit in D20 and the leftmost bit in D21.
X0
DVP-10PM Application Manual
DIV
D0
D10
D20
DIV
D0
D10
K4Y0
5-39
5 Applied Instructions and Basic Usage
API
Applicable model
24 D
INC
Adding one to a binary value
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
D
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n





E xa mple
5-40
10PM
16-bit instruction (3 steps)
Continuity
INC
INCP
instruction
Pulse
instruction
32-bit instruction (3 steps)
Continuity
DINCP
instruction
Pulse
instruction
DINC

Flag: None
D: Destination device
If the instruction used is not a pulse instruction, the value in D used by the
instruction increases by one whenever the instruction is executed.
Generally, the pulse instructions INCP and DINCP are used.
If a 16-bit operation is performed, 32,767 plus 1 equals -32,768. If a 32-bit
operation is performed, 2,147,483,647 plus 1 equals -2,147,483,648.
When X0 is turned from OFF to ON, the value in D0 increases by one.
X0
INCP
D0
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
25 D
DEC
Subtracting one from a binary value
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
D
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit instruction
is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n
10PM





16-bit instruction (3 steps)
Continuity
DEC
DECP
instruction
Pulse
instruction
32-bit instruction (3 steps)
Continuity
Pulse
DDECP
instruction
instruction
DDEC

Flag: None
D: Destination device
If the instruction used is not a pulse instruction, the value in D used by the
instruction decreases by one whenever the instruction is executed.
Generally, the pulse instructions DECP and DDECP are used.
If a 16-bit operation is performed, -32,768 minus 1 leaves 32,767. If a 32-bit
operation is performed, -2,147,483,648 minus 1 leaves 2,147,483,647.
When X0 is turned from OFF to ON, the value in D0 decreases by one.
E xa mple
DVP-10PM Application Manual
X0
DECP
D0
5-41
5 Applied Instructions and Basic Usage
API
26
Applicable model
D
WAND
Logical AND operation
P

Bit device
X
Y
M
Word device
S
10PM
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
D
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
16-bit instruction (7 steps)
Continuity
WAND
WANDP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
Pulse
DWANDP
instruction
instruction
DWAND

Flag: None
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n




E xamp le 1
S1: Source device 1; S2: Source device 2; D: Operation result
A logical AND operator takes the binary representations in S1 and S2, and
performs the logical AND operation on each pair of corresponding bits. The
operation result is stored in D.
The result in each position is 1 if the first bit is 1 and the second bit is 1.
Otherwise, the result is 0.
When X0 is ON, a logical AND operator takes the values in the 16-bit device
D0 and the 16-bit device D2, and performs the logical AND operation on each
pair of corresponding bits, and the operation result is stored in D4.
X0
WAND
D0
D2
D4
b15
Before the instruction
is executed

E xamp le 2
After the instruction
is executed
b0
S1 D0 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1
WAND
S2
D2 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0
D
D4 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0
When X1 is ON, a logical AND operator takes the values in the 32-bit device
(D11, D10) and the 32-bit device (D21, D20), and performs the logical AND
operation on each pair of corresponding bits, and the operation result is stored
in (D41, D40).
X1
DWAND
S1
Before the instruction
is executed
D10
D20
b31
D 11 D 10 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1
S2
5-42
b15
b0
1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1
DWAND
D 21 D 20 0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0
After the instruction
is executed
D40
0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0
D
D 41 D 40 0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0
0 0 0 1 0 0 1 0 0 0 0 0 0 1 0 0
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
27
Applicable model
D
WOR
Logical OR operation
P

Bit device
X
Y
M
Word device
S
10PM
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
D
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
16-bit instruction (7 steps)
Continuity
WOR
WORP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
DWORP
instruction
Pulse
instruction
DWOR

 Note: The instruction supports V devices and Z devices. (If the 16-bit
Flag: None
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n




E xamp le 1
S1: Source device 1; S2: Source device 2; D: Operation result
A logical OR operator takes the binary representations in S1 and S2, and
performs the logical inclusive OR operation on each pair of corresponding bits.
The operation result is stored in D.
The result in each position is 1 if the first bit is 1, the second bit is 1, or both
bits are 1. Otherwise, the result is 0.
When X0 is ON, a logical OR operator takes the values in the 16-bit device D0
and the 16-bit device D2, and performs the logical inclusive OR operation on
each pair of corresponding bits, and the operation result is stored in D4.
X0
WOR
D0
D2
D4
b15
Before the instruction
is executed

E xamp le 2
After the instruction
is executed
b0
S1 D0 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1
WO R
S2
D2 0 0 0 0 1 1 1 1 1 0 1 0 0 1 0 1
D
D4 0 1 0 1 1 1 1 1 1 1 1 1 0 1 0 1
When X1 is ON, a logical OR operator takes the values in the 32-bit device
(D11, D10) and the 32-bit device (D21, D20), and performs the logical inclusive
OR operation on each pair of corresponding bits, and the operation result is
stored in (D41, D40).
X1
DWOR
S1
Before the instruction
is executed
D 11 D 10
S2
D 21 D 20
After the instruction
is executed
D10
D20
D40
b31
b15
b0
1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1
DWO R
0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0
0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0
1 1 1 1 1 1 1 1 0 0 1 1 1 1 1 1
1 1 1 1 1 1 1 1 0 0 1 1 1 1 1 1
D
D 41 D 40
DVP-10PM Application Manual
5-43
5 Applied Instructions and Basic Usage
API
28
Applicable model
D
WXOR
Logical exclusive OR operation
P

Bit device
X
Y
M
Word device
S
10PM
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
D
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
16-bit instruction (7 steps)
Continuity
WXOR
WXORP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
Pulse
DWXORP
instruction
instruction
DWXOR

Flag: None
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
E xp la nat io n




E xamp le 1
S1: Source device 1; S2: Source device 2; D: Operation result
A logical XOR operator takes the binary representations in S1 and S2, and
performs the logical exclusive OR operation on each pair of corresponding bits.
The operation result is stored in D.
The result in each position is 1 if the two bits are different, and 0 if they are the
same.
When X0 is ON, a logical XOR operator takes the values in the 16-bit device
D0 and the 16-bit device D2, and performs the exclusive OR operation on each
pair of corresponding bits, and the operation result is stored in D4.
X0
WXOR
D0
D2
D4
b15
Before the instruction
is executed
After the instruction
is executed

E xamp le 2
b0
S1 D0 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1
WX OR
S2
D2 0 0 0 0 1 1 1 1 1 0 1 0 0 1 0 1
D
D4 0 1 0 1 1 0 1 0 1 1 1 1 0 0 0 0
When X1 is ON, a logical XOR operator takes the values in the 32-bit device
(D11, D10) and the 32-bit device (D21, D20), and performs the logical
exclusive OR operation on each pair of corresponding bits, and the operation
result is stored in (D41, D40).
X1
DWXOR
S1
Before the instruction
is executed
5-44
D 11 D 10
S2
D10
D20
D40
b31
b15
b0
1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1 1 1 1 1 1 1 1 1 0 0 0 0 1 1 1 1
DWX OR
D 21 D 20
0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0
0 0 0 1 0 0 1 0 0 0 1 1 0 1 0 0
After the instruction D
is executed
D 41 D 40
1 1 1 0 1 1 0 1 0 0 1 1 1 0 1 1
1 1 1 0 1 1 0 1 0 0 1 1 1 0 1 1
DVP-10PM Application Manual
5
API
W
29
D
Applied Instructions and Basic Usage
Applicable model
NEG
Taking the two’s complement of a value
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
D
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
E xp la nat io n


E xamp le 1
16-bit instruction (7 steps)
Continuity
NEG
NEGP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
DNEGP
instruction
Pulse
instruction
DNEG
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.


10PM

Flag: None
D: Device in which the two’s complement of the value in the device is stored
The instructions can be used to convert a negative binary value into an
absolute value.
Generally, the pulse instructions NEGP and DNEGP are used.
When X0 is turned from OFF to ON, all the bits in D0 are inverted (0 becomes
1, and 1 becomes 0), 1 is added to the result, and the final value is stored in
the original register D10.
X0
NEGP

E xamp le 2
D10
Getting the aboluste value of a negative value
1. When bit 15 in D0 is 1, M0 is ON. (The value in D0 is a negative value.)
2. When M0 is ON, the instruction NEG is used to take the two’s complement
of the negative value in D0.
M1000
BON
D0
M0
K1 5
M0
NEGP

E xamp le 3
D0
Getting the absolute value of the difference between two values
Suppose X0 is ON.
1. When the value in D0 is greater than that in D2, M0 is ON.
2. When the value in D0 is equal to that in D2, M1 is ON.
3. When the value in D0 is less than that in D2, M2 is ON.
4. The value in D4 is a positive value.
X0
CMP
D0
D2
M0
SUB
D0
D2
D4
SUB
D2
D0
D4
M0
M1
M2
DVP-10PM Application Manual
5-45
5 Applied Instructions and Basic Usage
A dditio nal
re mark

The representation of a negative value and its absolute value are described
below.
1. Whether the value in a register is a positive value or a negative value
depends on the leftmost bit in the register. If the leftmost bit in a register is
0, the value in the register is a positive value. If the leftmost bit in a register
is 1, the value in the register is a negative value.
2. The negative value in a register can be converted into its absolute value by
means of the instruction NEG.
(D0)=2
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
(D0)=1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
(D0)=0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
(D0)= -1
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
(D0)= -2
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
(D0)= -3
1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1
(D0)= -4
1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0
(D0)= -5
1 1 1 1 1 1 1 1 1 1 1 1 1 0 1 1
(D0)= -32,765
1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1
(D0)= -32,766
1 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
(D0)= -32,767
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
(D0)= -32,768
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
(D0)+ 1=1
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1
(D0)+ 1=2
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 0
(D0)+ 1=3
0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1
(D0)+ 1=4
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 0
(D0)+ 1=5
0 0 0 0 0 0 0 0 0 0 0 0 0 1 0 1
(D0)+ 1=32,765
0 1 1 1 1 1 1 1 1 1 1 1 1 1 0 1
(D0)+ 1=32,766
0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0
(D0)+ 1=32,767
0 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1
(D0)+ 1=-32,768
1 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0
T he maximum abs olute value i s 32,767.
5-46
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
30
Applicable model
ROR
D
Rotating bits rightwards
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
D
＊
n
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊





E xa mple
Pulse
instruction
32-bit instruction (9 steps)
Continuity
Pulse
DRORP
instruction
instruction
DROR
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).
E xp la nat io n
16-bit instruction (5 steps)
Continuity
ROR
RORP
instruction
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit


10PM

Flags
Ox
O100
M1810 M1970 Carry flag
 Please refer to the additional remark below.
D: Device which is rotated; n: Number of bits forming a group
The bits in D are divided into groups (n bits as a group), and these groups are
rotated rightwards.
The nth bit from the right is transmitted to a carry flag.
Generally, the pulse instructions RORP and DRORP are used.
If the operand D is KnY/KnM/KnS, Kn in KnY/KnM/KnS must be K4 (16 bits)
or K8 (32 bits).
16-bit instruction: 1≤n≤16; 32-bit instruction: 1≤n≤32
When X0 is turned from OFF to ON, the bits in D10 are divided into groups
(four bits as a group), and these groups are rotated rightwards. (The bit
marked with ※ is transmitted to a carry flag.)
X0
RORP
D10
K4
Rotating the bits in D10 rightwards
Hi gh byte
D10
Low by te
Carr y flag
0 1 1 1 1 0 1 1 0 1 0 0 0 1 0 1
Rotating the
16 bits in D10
Hi gh byte
D10
DVP-10PM Application Manual
Low by te
0 1 0 1 0 1 1 1 1 0 1 1 0 1 0 0
*
0
Carr y flag
5-47
5 Applied Instructions and Basic Usage
API
31
Applicable model
ROL
D
Rotating bits leftwards
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
D
＊
n
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).
E xp la nat io n





E xa mple
16-bit instruction (5 steps)
Continuity
ROL
ROLP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
DROLP
instruction
Pulse
instruction
DROL
 Note: The instruction supports V devices and Z devices. (If the 16-bit


10PM

Flags
Ox
O100
M1810 M1970 Carry flag
 Please refer to the additional remark below.
D: Device which is rotated; n: Number of bits forming a group
The bits in D are divided into groups (n bits as a group), and these groups are
rotated leftwards.
The nth bit from the left is transmitted to a carry flag.
Generally, the pulse instructions ROLP and DROLP are used.
If the operand D is KY/KnM/KnS, Kn in KY/KnM/KnS must be K4 (16 bits) or K8
(32 bits).
16-bit instruction: 1≤n≤16; 32-bit instruction: 1≤n≤32
When X0 is turned from OFF to ON, the bits in D10 are divided into groups (four
bits as a group), and these groups are rotated leftwards. (The bit marked with
※ is transmitted to a carry flag.)
X0
ROLP
D10
K4
Rotating the bits in D10 leftwards
Hi gh byte
Carr y flag
Low by te
1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0
D10
Rotating the
16 bits in D10
Hi gh byte
Carr y flag 1
5-48
Low by te
1 1 1 1 0 0 0 0 0 0 0 0 1 1 1 1
D10
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
32
Applicable model
RCR
D
Rotating bits rightwards with a carry flag
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
D
＊
n
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).
E xp la nat io n





E xa mple
16-bit instruction (5 steps)
Continuity
RCR
RCRP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
DRCRP
instruction
Pulse
instruction
DRCR
 Note: The instruction supports V devices and Z devices. (If the 16-bit


10PM

Flags
Ox
O100
M1810 M1970 Carry flag
 Please refer to the additional remark below.
D: Device which is rotated; n: Number of bits forming a group
The bits in D are divided into groups (n bits as a group), and these groups are
rotated rightwards with a carry flag.
The nth bit from the right is transmitted to a carry flag.
Generally, the pulse instructions RCRP and DRCRP are used.
If the operand D is KnY/KnM/KnS, Kn in KnY/KnM/KnS must be K4 (16 bits) or
K8 (32 bits).
16-bit instruction: 1≤n≤16; 32-bit instruction: 1≤n≤32
When X0 is turned from OFF to ON, the bits in D10 are divided into groups (four
bits as a group), and these groups are rotated rightwards with a carry flag. (The
bit marked with ※ is transmitted to the carry flag.)
X0
RCRP
D10
K4
Rotating the bits in D10 rightwar ds
Hi gh byte
D10
Low by te
0 0 0 0 1 1 1 1 0 0 0 0 0 1 1 0
1
Carr y flag
0
Carr y flag
Rotating the
16 bits in D10
Hi gh byte
D10
DVP-10PM Application Manual
Low by te
1 1 0 1 0 0 0 0 1 1 1 1 0 0 0 0
5-49
5 Applied Instructions and Basic Usage
API
33
Applicable model
RCL
D
Rotating bits leftwards with a carry flag
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
D
＊
n
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).
E xp la nat io n





E xa mple
16-bit instruction (5 steps)
Continuity
RCL
RCLP
instruction
Pulse
instruction
32-bit instruction (9 steps)
Continuity
DRCLP
instruction
Pulse
instruction
DRCL
 Note: The instruction supports V devices and Z devices. (If the 16-bit


10PM


Flags
Ox
O100
M1810 M1970 Carry flag
Please refer to the additional remark below.
D: Device which is rotated; n: Number of bits forming a group
The bits in D are divided into groups (n bits as a group), and these groups are
rotated leftwards with a carry flag.
The nth bit from the left is transmitted to a carry flag.
Generally, the pulse instructions RCLP and DRCLP are used.
If the operand D is KnY/KnM/KnS, Kn in KnY/KnM/KnS must be K4 (16 bits) or
K8 (32 bits).
16-bit instruction: 1≤n≤16; 32-bit instruction: 1≤n≤32
When X0 is turned from OFF to ON, the bits in D10 are divided into groups (four
bits as a group), and these groups are rotated leftwards with a carry flag. (The
bit marked with ※ is transmitted to the carry flag.)
X0
RCLP
D10
K4
Rotating the bits in D10 leftwards
Carr y flag
Low by te
Hi gh byte
1 1 1 1 1 1 1 1 0 0 0 0 0 0 0 0 D10
Hi gh byte
Carr y flag
5-50
Rotating the
16 bits in D10
Low by te
1 1 1 1 0 0 0 0 0 0 0 0 0 1 1 1
D10
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
SFTR
34
Moving the states of bit devices
rightwards
P
Bit device
S
D
Word device
X
Y
M
S
＊
＊
＊ ＊
＊
＊ ＊
K
H
KnX KnY KnM KnS
T
C
D
V
Z
Applicable model
10PM

16-bit instruction (9 steps)
Continuity
SFTR
SFTRP
instruction
Pulse
instruction
32-bit instruction
－
n1
＊
＊
n2
＊
＊

－
－
－
Flag: None
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.

E xp la nat io n




E xa mple

S: Initial device which is moved; D: Initial device which is moved; n1: Number of
bits which are moved; n2: Number of bits forming a group
The states of the n1 bit devices starting from D are divided into groups (n2 bits
as a group), and these groups are moved rightwards. The states of the n2 bit
devices starting from S are moved to the vacant devices in the devices starting
from D.
Generally, the pulse instruction SFTRP is used.
1≤n2≤n1≤1024
When X0 is turned from OFF to ON, the states of the sixteen bit devices
starting from M0 are divided into groups (four bits as a group), and these
groups are moved rightwards.
The states of the bit devices are moved rightwards in the order ~ during a
scan cycle.
 M3~M0
 The states of M3~M0 are carried.
 M7~M4
 M3~M0
 M11~M8  M7~M4
 M15~M12  M11~M8
 X3~X0
 M15~M12
X0
SFTR
X0
M0
K16
K4
F our bits as a group ar e moved rightwar ds.
X3
X2
X1
X0
5
M1 5 M1 4 M1 3 M1 2 M11
4
DVP-10PM Application Manual
M1 0
M9
M8
M7
3
M6
M5
M4
M3
2
M2
M1
M0
1
5-51
5 Applied Instructions and Basic Usage
API
SFTL
35
P
Bit device
S
D
Word device
X
Y
M
S
＊
＊
＊ ＊
＊
＊ ＊
Applicable model
Moving the states of bit devices
leftwards
K
H
KnX KnY KnM KnS
T
C
D
V
10PM

16-bit instruction (9 steps)
Continuity
SFTL
SFTLP
instruction
Z
Pulse
instruction
32-bit instruction
－
n1
＊
＊
n2
＊
＊

－
－
－
Flag: None
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit instruction
is used, V devices can not be used.)
Please refer to specifications for more information about device ranges.

E xp la nat io n




E xa mple

S: Initial bit device which is moved; D: Initial bit device which is moved; n1:
Number of bits which are moved; n2: Number of bits forming a group
The states of the n1 bit devices starting from D are divided into groups (n2 bits as
a group), and these groups are moved leftwards. The states of the n2 bit devices
starting from S are moved to the vacant devices in the devices starting from D.
Generally, the pulse instruction SFTRP is used.
1≤n2≤n1≤1024
When X0 is turned from OFF to ON, the states of the sixteen bit devices starting
from M0 are divided into groups (four bits as a group), and these groups are
moved leftwards.
The states of the bit devices are moved leftwards in the order ~ during a
scan cycle.
 M15~M12  The states of M3~M0 are carried.
 M11~M8  M15~M12
 M7~M4
 M11~M8
 M3~M0
 M7~M4
 X3~X0
 M3~M0
X0
SFTL
X0
M0
K16
K4
F our bits as a group ar e moved leftwards.
X3
X2
X1
X0
M3
M2
M1
M0
5
T hey are carr ied. M1 5 M1 4 M1 3 M1 2 M11 M1 0 M9
1
5-52
2
M8
M7
3
M6
M5
M4
4
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
WSFR
36
Moving the values in word devices
rightwards
P
Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
S
D
n1
＊
＊
n2
＊
＊
T
C
D
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
V
Z
Applicable model
10PM

16-bit instruction (9 steps)
Continuity
Pulse
WSFR
WSFRP
instruction
instruction
32-bit instruction
－

－
－
－
Flag: None
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit instruction
is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).

E xp la nat io n






E xamp le 1

S: Initial word device which is moved; D: Initial word device which is moved; n1:
Number of values which are moved; n2: Number of values forming a group
The values in the n1 word devices starting from D are divided into groups (n2
values as a group), and these groups are moved rightwards. The values in the
n2 word devices starting from S are moved to the vacant word devices in the
word devices starting from D.
Generally, the pulse instruction WSFRP is used.
If the operand S is KnX/KnY/KnM/KnS, the operand D can be a counter, timer,
or a data register. If the operand D is KnY/KnM/KnS, the operand S can be a
counter, timer, or a data register.
If the operand S is KnX/KnY/KnM/KnS, and the operand D is KnY/KnM/KnS, Kn
in KnX/KnY/KnM/KnS which is S and Kn in KnY/KnM/KnS must be the same.
1≤n2≤n1≤512
When X0 is turned from OFF to ON, the values in the sixteen word devices
starting from D20 are divided into groups (four values as a group), and these
groups are moved rightwards.
The values in the word devices are moved rightwards in the order ~ during
a scan cycle.
 D23~D20  The values in D23~D20 are carried.
 D27~D24  D23~D20
 D31~D28  D27~D24
 D35~D32  D31~D28
 D13~D10  D35~D32
X0
WSFRP
D10
D20
K16
K4
F our val ues as a group are mov ed rightwards.
D1 3
D1 2
D11
D1 0
D3 5
D3 4
D3 3
D3 2
5
D3 1
4
DVP-10PM Application Manual
D3 0
D2 9
D2 8 D2 7
3
D2 6
D2 5 D2 4
D2 3
2
D2 2 D2 1
D2 0
T hey are carr ied.
1
5-53
5 Applied Instructions and Basic Usage

E xamp le 2

When X0 is turned from OFF to ON, the values in the sixteen bit devices
starting from Y20 are divided into groups (eight values as a group), and these
groups are moved rightwards.
The values in the word devices are moved rightwards in the order ~ during
a scan cycle.
 Y27~Y20  The values in Y27~Y20 are carried.
 Y37~Y30  Y27~Y20
 X27~X20  Y37~Y30
If the operand S is KnX/KnY/KnM/KnS, and the operand D
is KnY/KnM/KnS, Kn in KnX/KnY/KnM/KnS whic h is S and
Kn in KnY/KnM/KnS mus t be the s am e.
X0
WSF RP
K1X20
K1Y20
X 27
X 26
X 25
X 24
X 23
X 22
X 21
X 20
Y 37
Y 36
Y 35
Y 34
Y 33
Y 32
Y 31
Y 30
K4
K2
Two nibbles as a group ar e moved rightwar ds.
3
Y 27
2
5-54
Y 26
Y 25
Y 24
Y 23
Y 22
Y 21
Y 20
T hey are carr ied.
1
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
WSFL
37
P
Bit device
X
Y
M
Word device
S
Applicable model
Moving the values in word devices
leftwards
K
H
KnX KnY KnM KnS
＊
S
D
n1
＊
＊
n2
＊
＊
T
C
D
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
V
Z
10PM

16-bit instruction (9 steps)
Continuity
WSFL
WSFLP
instruction
Pulse
instruction
32-bit instruction
－

－
－
－
Flag: None
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).

E xp la nat io n






E xa mple

S: Initial word device which is moved; D: Initial word device which is moved; n1:
Number of values which are moved; n2: Number of values forming a group
The values in the n1 word devices starting from D are divided into groups (n2
values as a group), and these groups are moved leftwards. The values in the
n2 word devices starting from S are moved to the vacant word devices in the
word devices starting from D.
Generally, the pulse instruction WSFLP is used.
If the operand S is KnX/KnY/KnM/KnS, the operand D can be a counter, timer,
or a data register. If the operand D is KnY/KnM/KnS, the operand S can be a
counter, timer, or a data register.
If the operand S is KnX/KnY/KnM/KnS, and the operand D is KnY/KnM/KnS,
Kn in KnX/KnY/KnM/KnS which is S and Kn in KnY/KnM/KnS must be the
same.
1≤n2≤n1≤512
When X0 is turned from OFF to ON, the values in the sixteen word devices
starting from D20 are divided into groups (four values as a group), and these
groups are moved leftwards.
The values in the word devices are moved leftwards in the order ~ during a
scan cycle.
 D35~D32  The values in D35~D32 are carried.
 D31~D28  D35~D32
 D27~D24  D31~D28
 D23~D20  D27~D24
 D13~D10  D23~D20
X0
WSFLP
D10
D20
K16
K4
F our values as a group ar e moved leftwards.
D1 3
D1 2
D11
D1 0
5
T hey are carr ied. D3 5 D3 4 D3 3 D3 2 D3 1 D3 0 D2 9 D2 8 D2 7 D2 6 D2 5 D2 4 D2 3 D2 2 D2 1 D2 0
1
DVP-10PM Application Manual
2
3
4
5-55
5 Applied Instructions and Basic Usage
API
SFWR
38
Moving a value and writing it into a word
device
P
Bit device
X
Y
M
Word device
S
S
K
H
＊
＊
D
＊
n
KnX KnY KnM KnS
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊




E xa mple


32-bit instruction
－
＊

instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).
E xp la nat io n
10PM
16-bit instruction (9 steps)
Continuity
Pulse
SFWR
SFWRP
instruction
instruction
 Note: The instruction supports V devices and Z devices. (If the 16-bit


Applicable model
－
Flags
Ox
M1808
－
O100
M1968
－
Zero flag
S: Device which is moved; D: Initial device; n: Number of devices
The values in the n word devices starting from D are defined as first in, first out
values, and D is taken as a pointer. When the instruction is executed, the value
of the pointer D increases by one, and the value in S is written into the device
to which the pointer D points. When the value of the pointer is greater than or
equal to n-1, the instruction does not process the writing of the value, and a
carry flag is ON.
When the value of the pointer D is greater than n-1, the instruction does not
process the writing of a value, and the carry flag M1022 is ON.
Generally, the pulse instruction SFWRP is used.
2≤n≤512
The value of the pointer D0 is cleared to 0 first. When X0 is turned from OFF to
ON, the value in D20 is written into D1, and the value of D0 becomes 1. When
X0 is turned from OFF to ON again, the value in D20 is written to D2, and the
value in D0 becomes 2.
The value in D20 is moved and written into D1 in the way described below.
 The value in D20 is written into D1.
 The value of D0 becomes 1.
X10
RST
D0
SF WRP
D20
T he value of D0 is cleared to 0 fir st.
X0
D0
n=10
Sourc e
D2 0
K10
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
Pointer
D0= 3
A dditio nal
re mark
5-56

2
1
The instruction SFWR can be used with the instruction SFRD to write a value
and read values.
DVP-10PM Application Manual
5
API
SFRD
39
Moving a value and reading it from a
word device
P
Bit device
X
Y
M
Applied Instructions and Basic Usage
Word device
S
S
K
H
＊
＊
D
＊
n
KnX KnY KnM KnS
T
C
D
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊




E xa mple


Z
16-bit instruction (9 steps)
Continuity
Pulse
SFRD
SFRD P
instruction
instruction
＊
＊
－
＊
32-bit instruction

instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in the
decimal numeral system, e.g. K1X0 (octal numeral system), K4SY20
(octal numeral system), K1M0 (decimal numeral system), and K4S16
(decimal numeral system).
E xp la nat io n
10PM
V
 Note: The instruction supports V devices and Z devices. (If the 16-bit


Applicable model
－
Flags
Ox
M1808
－
O100
M1968
－
Zero flag
S: Initial device; D: Device into which a value is written; n: Number of devices
The values in the n word devices starting from S are defined as first in, first out
values, and S is taken as a pointer. When the instruction is executed, the value
in S decreases by one, the value in S+1 is written into D, the values in
S+n-1~S+2 are moved rightwards, and the value in S+n-1 is unchanged.
When the value in S is equal to 0, the instruction does not process the reading
of the values, and a zero flag is ON.
When the value in S is equal to 0, the instruction does not process the reading
of the values, and the zero flag M1020 is ON.
Generally, the pulse instruction SFRDP is used.
2≤n≤512
When X0 is turned from OFF to ON, the value in D1 is written into D21, the
values in D9~D2 are moved rightwards, the value in D9 is unchanged, and the
value in D0 decreases by one.
The value in D1 is moved and written into D21 in the way described below.
 The value in D1 is written into D21.
 The values in D9~D2 are moved rightwards.
 The value in D0 decreases by one.
X0
D0
SFRDP
K10
D21
n=10
D9
D8
D7
D6
D5
D4
D3
D2
D1
D0
D2 1
Pointer
T he value i n D1 is read.
DVP-10PM Application Manual
5-57
5 Applied Instructions and Basic Usage

API
ZRST
40
Applicable model
Resetting a zone
P

Bit device
X
Word device
Y
M
S
D1
＊
＊
D2
＊
＊
10PM
K
H
KnX KnY KnM KnS
T
C
D
＊
＊
＊
＊
＊
＊
＊
＊
V
 Note: Device number of D1≦ Device number of D2
Z
16-bit instruction (5 steps)
Continuity
ZRST
ZRSTP
instruction
Pulse
instruction
32-bit instruction
－

－
－
－
Flag: None
The device type that D1 specifies and the device type that D2
specifies must be the same.
All devices can not be modified by V devices and Z devices.
Please refer to specifications for more information about device
ranges.
E xp la nat io n
E xa mple









D1: Initial device which is reset; D2: Final device which is reset
The instruction ZRST can be used to reset 16-bit counter and 32-bit counters.
If the device number of D1 is greater than the device number of D2, only D2 will
be reset.
When X0 is ON, the auxiliary relays M300~M399 are reset to OFF.
When X1 is ON, the 16-bit counters C0~C127 are reset. (The values of
C0~C127 are cleared to 0, and the contacts and the coils are reset to OFF.)
When X10 is ON, the timers T0~T127 are reset. (The values of T0~T127 are
cleared to 0. and the contacts and the coils are reset to OFF.)
When X2 is ON, the stepping relays S0~S127 are reset to OFF.
When X3 is ON, the data registers D0~D100 are reset to 0.
When X4 is ON, the 32-bit counters C235~C254 are reset. (The values of
C235~C254 are cleared to 0, and the contacts and the coils are reset to OFF.)
X0
ZRST
M300
M399
ZRST
C0
C127
ZRST
T0
T127
ZRST
S0
S127
ZRST
D0
D100
ZRST
C235
C254
X1
X10
X2
X3
X4
A dditio nal
re mark
5-58

The instruction RST can be used to reset a single device, e.g. a Y device, an M
device, an S device, a T device, a C device, or a D device.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
DECO
41
Decoder
P

Bit device
S
D
Word device
X
Y
M
S
K
H
＊
＊
＊ ＊
＊
＊
＊
＊ ＊
＊
n
10PM
KnX KnY KnM KnS
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
16-bit instruction (7 steps)
Continuity
Pulse
DECO
DECO P
instruction
instruction
32-bit instruction
－

－
－
－
Flag: None
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.

E xp la nat io n
E xamp le 1








S: Source device; D: Device in which a decoding result is stored n: Number of
bits which are decoded
The low n bits in S are decoded as the low 2n bits in D.
Generally, the pulse instruction DECOP is used.
D is in the range of 1 to 8.
When D is a bit device, n is in the range of 1 to 8. If n is 0, or greater than 8, an
error will occur.
If n is 8, the maximum number of bits which can be decoded is 28=256.
When X20 is turned from OFF to ON, the instruction DECOP decodes X0~X2
as M100~M107.
If the value in S is 3, M103 will be ON.
After the instruciton is executed, X20 will be OFF, and the states of
M100~M107 will remain unchanged.
X20
DECOP
7
0

E xamp le 2




X0
6
0
M100
5
0
K3
X2
X1
X0
0
1
1
4
2
1
4
0
3
3
1
2
0
1
0
0
0
M107 M106 M105 M104 M103 M102 M101 M100
When D is a word device, n is in the range of 1 to 8. If n is 0, or greater than 8,
an error will occur.
If n is 8, the maximum number of bits which can be decoded is 28=256.
When X20 is turned from OFF to ON, the instruction DECOP decodes b2~b0 in
D10 as b7~b0 in D20, and b15~b8 in D20 become 0.
The low 3 bits in D10 are decoded as the low 8 bits in D20. The high 8 bits in
D20 are 0.
After the instruciton is executed, X20 will be OFF, and the value in D20 will
remain unchanged.
X20
DECOP
DVP-10PM Application Manual
D10
D20
K3
5-59
5 Applied Instructions and Basic Usage
b15
0
b0
D10
1
0
1
0
1
0
1
0
1
0
1
0
0
1
1
4
2
1
Bit 15~ bi t 8
in D10 bec ome 0.
0
b15
5-60
0
0
0
0
0
0
0
7
6
5
4
3
2
1
0
0
0
0
0
1
0
0
0
D20
b0
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
ENCO
42
Encoder
P

Bit device
S
Word device
X
Y
M
S
＊
＊
＊ ＊
K
H
KnX KnY KnM KnS
D
＊
n
10PM
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
16-bit instruction (7 steps)
Continuity
Pulse
ENCO
ENCO P
instruction
instruction
32-bit instruction
－

－
－
－
Flag: None
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.

E xp la nat io n





E xamp le 1



S: Source device D: Device in which an encoding result is stored n: Number of
bits which are encoded
The low 2n bits in S are encoded as the low n bits in D.
If there are many bits which are 1 in S, the first bit which is 1 from the left will
be processed.
Generally, the pulse instruction ENCOP is executed.
If S is a bit device, n is in the range of 1 to 8. If S is a word device, n is in the
range of 1 to 4.
When S is a bit device, n is in the range of 1 to 8. If n is 0, or greater than 8, an
error will occur.
If n is 8, the maximum number of bits which can be decoded is 28=256.
When X0 is turned from OFF to ON, the instruction ENCOP encodes the 8 bits
in M0~M7 as the low 3 bits in D0, and b15~b3 in D0 become 0.
After the instruction ENCOP is executed, X0 will be OFF, and the data in D will
remain unchanged.
X0
ENCOP
M0
D0
M7
M6
M5
M4
M3
M2
M1
M0
0
0
0
0
1
0
0
0
7
6
5
4
3
2
1
0
b15
0
K3
D0
0
0
0
0
0
0
0
0
0
0
0
0
4
2
1
0
1
1
b0

E xamp le 2



Bit 15~bit 3 i n D0 become 0.
When S is a word device, n is in the range of 1 to 4. If n is 0, or larger than 4,
an error will occur.
If n is 4, the maximum number of bits which can be decoded is 24=16.
When X0 is turned from OFF to ON, the instruction ENCOP encodes the 8 bits
in D10 as the low 3 bits in D20, and b15~b3 in D20 become 0. (Bit 8~bit 15 in
D10 are invalid data.)
After the instruction ENCOP is executed, X0 will be OFF, and the data in D will
remain unchanged.
X0
ENCOP
DVP-10PM Application Manual
D10
D20
K3
5-61
5 Applied Instructions and Basic Usage
b15
0
b0
D10
1
0
1
0
1
0
1
0
0
0
0
1
0
0
0
7
6
5
4
3
2
1
0
0
0
0
0
0
1
1
Bit 8~ bit 18 in D10 are invalid data.
b15
0
D20
0
0
0
0
0
0
0
0
b0
Bit 15~ bi t 3 in D 20 become 0.
5-62
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
43 D
SUM
Number of bits which are ON
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
S
＊
＊
＊
D
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
E xa mple
Pulse
instruction
32-bit instruction (9 steps)
Continuity
DSUMP
instruction
Pulse
instruction

instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X device
numbers/Y device numbers/M device numbers/S device numbers
should start from a number which is a multiple of 16 (including 0),
e.g. K1X0, K4Y20 and K4M16.
E xp la nat io n
16-bit instruction (5 steps)
Continuity
SUM
SUMP
instruction
DSUM
 Note: The instruction supports V devices and Z devices. (If the 16-bit





10PM
Flags
Ox
M1808
O100
M1968
Zero flag
S: Source device; D: Destination device
The number of bits which are 1 in S is stored in D.
If the bits in S are 0, a zero flag will be ON.
If the 32-bit instruction is used, D will occupy two registers.
When X20 is ON, the number of bits which are 1 in D0 is stored in D2.
X20
0
DVP-10PM Application Manual
D0
SUM
0
0
1
0
D2
0
1
0 0
D0
0
0
0
0
1
0
0
3
D2
5-63
5 Applied Instructions and Basic Usage
API
Applicable model
44 D
BON
Checking the state of a bit
P

Bit device
X
Y
M
Word device
S
S
D
＊
＊
K
H
＊
＊
KnX KnY KnM KnS
＊
＊
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
16-bit instruction (7 steps)
Continuity
BON
BON P
instruction
Pulse
instruction
32-bit instruction (13 steps)
Continuity
DBON P
instruction
Pulse
instruction
DBON
＊
n
10PM
＊
＊
＊
＊
＊
＊

 Note: The instruction supports V devices and Z devices. (If the 16-bit
Flag: None
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in
the decimal numeral system, e.g. K1X0 (octal numeral system),
K4SY20 (octal numeral system), K1M0 (decimal numeral system),
and K4S16 (decimal numeral system).

E xp la nat io n
E xa mple




S: Source device; D: Device in which a check result is stored; n: Bit whose
state is judged
The state of the nth bit in S is checked, and the result is stored in D.
16-bit instruction: n=0~15; 32-bit instruction: n=0~31
If the 15th bit in D0 is 1 when X0 is ON, M0 will be ON. If the 15th bit in D0 is 0
when X0 is ON, M0 will be OFF.
When X0 is turned OFF, the state of M0 remains unchanged.
X0
BON
5-64
D0
M0
K15
b15
0 0
0
1
0
0
1
0 0
D0
0
0
0
0
1
0
b0
0 M0=Off
b15
1 0
0
1
0
0
1
0 0
D0
0
0
0
0
1
0
b0
0 M0=On
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
45 D
MEAN
Mean
P

Bit device
X
Y
M
10PM
Word device
S
S
K
H
＊
＊
KnX KnY KnM KnS
＊
D
＊
n
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
16-bit instruction (7 steps)
Continuity
MEAN
MEAN P
instruction
Pulse
instruction
32-bit instruction (13 steps)
Continuity
Pulse
DMEANP
instruction
instruction
DMEAN

Flag: None
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in
the decimal numeral system, e.g. K1X0 (octal numeral system),
K4SY20 (octal numeral system), K1M0 (decimal numeral system),
and K4S16 (decimal numeral system).
E xp la nat io n







E xa mple
S: Initial device; D: Device in which a mean is stored; n: Number of devices
After the values in the n devices starting from S are added up, the mean of the
sum is stored in D.
If a remainder appears in a calculation, it will be left out.
If S is not in a valid range, only the devices in the valid range will be
processed.
If n is not in the range of 1 to 64, an operation error will occur.
n=1~64
When X10 is ON, the values in the three registers starting from D0 are added
up. After the values are added up, the sum will be divided by 3. The quotient is
stored in D10, and the remainder is left out.
X10
MEAN
D0
D10
K3
(D0+D1+D2)/3
D0
K100
D1
K113
D2
K125
D10
After the i ns tr uction
is executed
D10
K112
T he quotient 2 is left out.
DVP-10PM Application Manual
5-65
5 Applied Instructions and Basic Usage
API
Applicable model
ANS
46
Driving an annunciator
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
V
＊
S
16-bit instruction (7 steps)
Continuity
ANS
ANS P
instruction
－
＊
D
Z
Pulse
instruction
32-bit instruction
＊
m
10PM

－
－
－
Flag: None
 Note: All devices can not be modified by V devices and Z devices.
Please refer to specifications for more information about device
ranges.
E xp la nat io n




E xa mple
S: Timer; m: Time; D: Annunciator
The instruction ANS is used to drive an annunciator.
S: T0~T183
m: K1~K32,767 (Unit: 100 ms)
D: S912~S1023
See the explanation of ANR for more information.
If X3 is ON for more than 5 seconds, the annunciator S999 will be ON. Even if
X3 is turned OFF, S999 will still be ON. (However, T10 will be reset to OFF,
and the value of T10 will be 0.)
X3
ANS
5-66
T10
K50
S999
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
ANR
47
Resetting an annunciator
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
V
Z
 Note: There is no operand.
E xp la nat io n


E xa mple



16-bit instruction (1 step)
Continuity
ANR
ANR P
instruction
Pulse
instruction
32-bit instruction
－
The instruction does not need to be driven by a contact.


10PM

－
－
－
Flag: None
The instruction ANR is used to reset an annunciator.
If more than one annunciator is ON simultaneously, the annunciator whose
number is smallest will be reset.
Generally, the pulse instruction ANRP is used.
If X20 and X21 are ON for more than 2 seconds, the annunciator S912 will be
ON. If X20 and D21 are turned OFF, S912 will still be ON, T10 will be reset to
OFF, and the value of T10 will be 0.
If X20 and X21 are not ON for 2 seconds, the value of T10 will become 0.
When X0.3 is turned from OFF to ON, the annunciator whose number is
smallest in the annunciators which are driven is reset.
When X0.3 is turned from OFF to ON again, the next annunciator whose
number is smallest in the annunciators which are driven is reset.
X20
X21
ANS
T10
K20
S912
X3
ANRP
DVP-10PM Application Manual
5-67
5 Applied Instructions and Basic Usage
A dditio nal
re mark

Application of annunciators
X0=Forward switch
X1=Backward switch
X2=Front position switch
X3=Back position switch
X4=Resetting button
Y0=Forward
Y1=Backward
Y2=Indicator
S912=Forward annunciator S920=Backward annunciator
Y0
Y1
X0
X2
ANS
T0
K100
S912
ANS
T1
K200
S920
X3
X2
Y0
Y0
X1
X3
Y1
Y1
M1048
Y2
X4
ANRP
1.
2.
3.
4.
5.
5-68
If Y0 is ON for more than 10 seconds, and X2 is OFF, S912 will be ON.
If Y1 is ON for more than 20 seconds, and X3 is OFF, S920 will be ON.
If X1 and Y1 are ON, Y1 will not be OFF until X3 is ON.
If an annuciator is driven, Y2 will be ON.
When X4 is turned from OFF to ON, the annunciator whose number is
smallest in the annunciators which are driven is reset. When X4 is turned
from OFF to ON again, the next annunciator whose number is smallest in
the annunciators which are driven is reset.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
48 D
SQR
Square root of a binary value
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
V
＊
S
＊
m
Please refer to specifications for more information about device
ranges.
E xp la nat io n



E xa mple
16-bit instruction (7 steps)
Continuity
SQR
SQR P
instruction
Pulse
instruction
32-bit instruction
Continuity
instruction
Pulse
instruction
DSQRP

 Note: All devices can not be modified by V devices and Z devices.



Z
DSQR
＊
D
10PM
Flags
Ox
O100
M1808
M1968
Zero flag
M1809
M1969
Borrow flag
M1810
M1970
Carry flag
 Please refer to the explanation below.
S: Source device; D: Device in which a result is stored
The square root of the value in S is calculated, and the result is stored in D.
The value in S can only be a positive value. If the value in S is a negative
value, an error will occur, and the instruction will not be executed.
The value stored in D is an integer. The fractional part of a square root
calculated is dropped. If the fractional part of a square root calculated is
dropped, a borrow flag will be ON.
If the value in D is 0, a zero flag will be ON.
When X20 is ON, the square root of the value in D0 is calculated, and the
result is stored in D12.
X20
SQR
D0
DVP-10PM Application Manual
D0
D12
D12
5-69
5 Applied Instructions and Basic Usage
API
Applicable model
49 D
FLT
Converting a binary integer into a binary
floating-point value
P
Bit device
X
Y
M
Word device
S
S
K
H
＊
＊
KnX KnY KnM KnS
T
D
V
Z
＊
 Note: Please refer to specifications for more information about device
E xamp le 1

－
－
－
Pulse
instruction

Flags
Ox
O100
M1808
M1968
Zero flag
M1809
M1969
Borrow flag
M1810
M1970
Carry flag
 Please refer to the explanation below.
ranges.
Only the 32-bit instructions DFLT and DFLTP are valid.

－
32-bit instruction (6 steps)
Continuity
DFLT
DFLTP
instruction
＊
E xp la nat io n

16-bit instruction
C
D


10PM
S: Source device; D: Conversion result
The instruction is used to convert a binary integer into a binary floating-point
value.
1. If the absolute value of the converesion result is greater than the
maximum floating-point value avaliable, a carry flag will be ON.
2. If absolute value of the conversion result is less than the mimum
floating-point vlaue available, a borrow flag will be ON.
3. If the conversion result is 0, a zero flag will be ON.
When X11 is ON, the binary integer in (D1, D0) is converted into a binary
floating-point value, and the conversion result is stored in (D21, D20).
Suppose the value in the 32-bit register (D1, D0) is K100,000. When X11 is
ON, K100,000 is converted into the 32-bit floating-point value H4735000, and
H4735000 is stored in the 32-bit register (D21, D20).
X11
DFLT

D0
D20
Users can use applied instructions to perform the following calculation.
E xamp le 2
(D11 ,D1 0 )
(X7~X0 )
32 -bit b in ary
Two-digit
binary- coded
decimal value
v alue
1
2
5
(D2 1 ,D2 0 ) Bi na ry floating-point value
K6 1.5
6
4
(D3 0 1,D 3 00 )
(D1 0 1,D 1 00 )
Bin a ry
Bin a ry
floati ng- point (D2 0 1,D 2 00 )
value
3
floati ng- point
value
7
8
(D3 1 ,D3 0 )
D eci mal f lo ati ng -po in t val ue
(D4 1 ,D4 0 )
3 2-b it in te ge r
(D2 0 3,D 2 02 )
Bin a ry
floati ng- point
value
(D4 0 1,D 4 00 )
Bin a ry
floati ng- point
value
5-70
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
M1000
1
2
DFLT
D10
D100
DBIN
K2X0
D200
DFLT
D200
D202
DEDIV
K615
K10
D300
DEDIV
D100
D202
D400
DEMUL
D400
D300
D20
DEBCD
D20
D30
DINT
D20
D40
3
4
5
6
7
8
1. The binary integer in (D11, D10) is converted into a binary floating-point
value, and the conversion result is stored in (D101, D100).
2. The binary-coded decimal value in X7~X0 is converted into a binary value,
and the conversion result is stored in (D201, D200).
3. The binary integer in (D201, D200) is converted into a binary floating-point
value, and the conversion result is stored in (D203, D202).
4. The constant K615 is divided by the constant K10, and the quotient which
is a binary floating-point value is stored in (D301, D300).
5. The binary floating-point value in (D101, D100) is divided by the binary
floating-point value in (D203, D202), and the quotient which is a binary
floating-point value is stored in (D401, D400).
6. The binary floating-point value in (D401, D400) is multiplied by the binary
floating-point value in (D301, D300), and the product which is a binary
floating-point value is stored in (D21, D20).
7. The binary floating-point value in (D21, D20) is converted into a decimal
floating-point value, and the conversion result is stored in (D31, D30).
8. The binary floating-point value in (D21, D20) is converted into a binary
integer, and the conversion result is stored in (D41, D40).
DVP-10PM Application Manual
5-71
5 Applied Instructions and Basic Usage
API
Applicable model
REF
50
Refreshing the states of I/O devices
P

Bit device
D
X
Y
＊
＊
M
Word device
S
n
10PM
K
H
＊
＊
KnX KnY KnM KnS
T
C
D
V
Z
16-bit instruction (7 steps)
Continuity
REF
REF P
instruction
Pulse
instruction
32-bit instruction
 Note: All devices can not be modified by V devices and Z devices.
－

－
－
－
Flag: None
Please refer to specifications for more information about device
ranges.

E xp la nat io n





E xamp le 1
D: Initial I/O device whose state is refreshed; n: Number of I/O devices whose
states are refreshed
The states of I/O devices are not refreshed until the instruction END is
executed. When the scan of a program starts, the states of external inputs are
read, and stored in the input memory. After the instruction END is executed,
the contents of the output memory will be sent to output terminals. Therefore,
users can use this instruction when they need the latest I/O data in an
operation process.
D must be an I/O device whose number ends with 0, e.g. X0, X10, Y0 or Y10.
The instruction can not be used to refresh the I/O devices in a digital extension
module.
D must be an I/O device in a PLC.
1. If D is X0 and n is less than or equal to 8, the states of X0~X0 will be
refreshed. If n is greater than 8, the states of the input devices and the
states of the output devices in the motion controller used will be refreshed.
2. If D is Y0, and n is equal to 8, the states of Y0~Y7 will be refreshed. If n is
greater than 8, the states of the input devices and the states of the output
devices in the motion controller used will be refreshed.
3. If D is X10 or Y10, and n is any number, the states of all the input devices
except X0~X7, and the states of all the output devices except Y0~Y3 in
the motion controller used will be refreshed.
n is in the range of 4 to the number of I/O devices in the motion control module
used, and is a multiple of 4.
When X0 is ON, the DVP-10PM series motion controller reads the states of
X0~X7 immediately. The input signals are refreshed without any delay.
X0
REF

E xamp le 2
X0
K8
When X0 is ON, the states of Y0~Y3 are sent to output terminals. The output
signals are refreshed immediately without the need to wait for the execution of
the instruction END.
X0
REF

E xamp le 3
Y0
K4
When X0 is ON, the states of the input terminals starting from X10, or the
states of the output terminals starting from Y10 are refreshed.
X0
REF
X10
K8
Y10
K8
Or
X0
REF
5-72
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
61 D
SER
Searching data
P

Bit device
X
Y
M
Word device
S
K
H
S1
＊
S2
＊
D
＊
N
10PM
KnX KnY KnM KnS
T
C
D
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
V
Z
＊
＊
16-bit instruction (9 steps)
Continuity
SER
SER P
instruction
Pulse
instruction
32-bit instruction (17 steps)
Continuity
DSERP
instruction
Pulse
instruction
DSER

＊
Flag: None
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in
the decimal numeral system, e.g. K1X0 (octal numeral system),
K4SY20 (octal numeral system), K1M0 (decimal numeral system),
and K4S16 (decimal numeral system).

E xp la nat io n




E xa mple
S1: Initial device involved in a comparison; S2: Value which is compared; D:
Initial device in which a comparison result is stored (5 consecutive devices are
occupied.); n: Number of values
S1 is the initial register involved in a comparison, and n is the number of values
which are compared. The values in the n registers starting from S1 are
compared with the value in S2, and the comparison results are stored in the
five registers starting from D.
If the 32-bit instruction is used, S1, S2, D, and n will be 32-bit registers.
16-bit instruction: n=1~256; n=1~128 (32-bit instruction)
When X0 is ON, the values in D10~D19 are compared with the value in D0,
and the comparison results are stored in D50~D54. If none of the values in
D10~D19 are equal to the value in D0, the values in D50~D52 will be 0.

A comparison is based on algebra (-10＜2).

The number of the minimum value is stored in D53, and the number of the
maximum value is stored in D54. If there is more than one minimum
value/maximum value, the number which is the biggest will be stored.
X0
SER
DVP-10PM Application Manual
D10
D0
D50
K10
5-73
5 Applied Instructions and Basic Usage
Value
S1 Value which is Number Result
compared
D10
n
5-74
88
0
D11 100
1
D Value
D50
4
D51
1
2
D52
8
D13 150
3
D53
7
D14 100
4
Equal
D54
9
D15
D16
D17
D18
D19
5
6
7
8
9
Equal
Minimum
Equal
Maximum
D12 110
300
100
5
100
500
S2
D0=K100
Equal
Description
Number of
values which
are equal to the
value in D0
Number of the
first value
which is equal
to the value in
D0
Number of the
last value
which is equal
to the value in
D0
Number of the
minimum value
Number of the
maximum
value
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
ALT
66
Alternating between ON and OFF
P

Bit device
X
D
Word device
Y
M
S
＊
＊
＊
K
H
KnX KnY KnM KnS
T
C
D
V
Z
Please refer to specifications for more information about device
ranges.
E xp la nat io n


E xamp le 1
16-bit instruction (9 steps)
Continuity
ALT
ALT P
instruction
Pulse
instruction
32-bit instruction (17 steps)
 Note: All devices can not be modified by V devices and Z devices.


10PM
－

－
－
－
Flag: None
D: Destination device
When the instruction ALT is executed, the state of D alternates between ON
and OFF.
Generally, the pulse instruction ALTP is used.
When X0 is turned from OFF to ON for the first time, Y0 is ON. When X0 is
turned from OFF to ON for the second time, Y0 is OFF.
X0
ALTP
Y0
X0
Y0

E xamp le 2
In the beginning, M0 is OFF, and therefore Y0 is ON, and Y1 is OFF. When
X10 is turned from OFF to ON for the first time, M0 is ON. Therefore, Y1 is ON,
and Y0 is OFF. When X10 is switched from OFF to ON for the second time, M0
is OFF. Therefore, Y0 is ON, and Y1 is OFF.
X10
ALT
M0
M0
Y0
M0
Y1

E xamp le 3
When X20 is ON, T0 generates a pulse every two seconds. The output Y0
alternates between ON and OFF according to the pulses generated by T0.
X20
T0
TMR
T0
ALTP
Y0
K20
T0
DVP-10PM Application Manual
5-75
5 Applied Instructions and Basic Usage
API
Applicable model
67 D
RAMP
Ramp

Bit device
X
10PM
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
S1
＊
S2
＊
D
＊
N
＊
V
Z
16-bit instruction (9 steps)
Continuity
RAMP
－
instruction
32-bit instruction (17 steps)
Continuity
instruction
D RAMP

 Note: All devices can not be modified by V devices and Z devices.
－
Flags: M1026 (Please refer to the additional
remark below.)
M1029
Please refer to specifications for more information about device
ranges.

E xp la nat io n





E xa mple



S1: Start a ramp; S2: End of a ramp; D: Duration of a ramp (2 consecutive
devices are occupied.); n: Number of scan cycles (n=1~32,767)
The instruction is used to get a slope. Whether a slope is linear or not has an
absolute relationship with scan time. When users use the instruction, they have
to specify scan time in advance.
When the contact driving the instruction RAMP is turned from OFF to ON, the
value in D will increase from the value in S1 to the value S2, and the number of
scan cycles is stored in D+1.
If the operand n is a D device, the value in n can not be changed until the
execution of the instruction stops.
If the instruction is used with an output of analog signals, the action of
cushioning a start/stop can be executed.
The start of a ramp is written into D10, and the end of the ramp is written into
D11. When X20 is turned ON, the value in D12 increases from the value in
D10 to the value in D11, and the number of scan cycles is stored in D13.
After M1039 in a program is turned ON, the scan time for the program will be
fixed. Users can write scan time into the special data register D1039 by means
of the instruction MOV. If the scan time set is 30 milliseconds, and n is K100,
the time it takes for the value in D12 to increase from the value in D10 to the
value in D11 will be 3 seconds (30 milliseconds×100).
If X20 is turned OFF, the execution of the instruction will stop. If X20 is turned
ON again, the value in D12 will become 0, and increase again.
If M1026 is OFF, and M1029 is ON, the value in D12 will becomes the value in
D10.
X20
RAMP
D10
D11
D11
D12
D12
D10
K100
D12
D11
D10
T he number of scan c ycles is n. T he number of scan c ycles is n.
D10<D11
D10>D11
T he number of scan c ycle is stored in D13.
5-76
DVP-10PM Application Manual
5
A dditio nal
re mark

Applied Instructions and Basic Usage
If M1026 is turned ON/OFF, the value in D12 will change in the way described
below.
M1026=ON
X20
Start s ignal
X20
Start s ignal
D11
D11
D10
M1026=OF F
D12
D10
100
100
D13
DVP-10PM Application Manual
D12
0
0
M1029
M1029
D13
5-77
5 Applied Instructions and Basic Usage
API
Applicable model
69 D
SORT
Sorting data

Bit device
X
10PM
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
V
Z
＊
S
m1
＊
＊
m2
＊
＊
32-bit instruction (17 steps)
Continuity
instruction
DSORT

＊
D
＊
N
16-bit instruction (9 steps)
Continuity
SORT
－
instruction
＊
－
Flag: None
＊
 Note: All devices can not be modified by V devices and Z devices.
Please refer to specifications for more information about device
ranges.

E xp la nat io n





E xa mple
S: Initial device in which original data is stored; m1: Number of rows of data (m1
=1~32); m2: Number of columns of data (m2 =1~6); D: Initial device in which a
sorting result is stored; n: Reference value (n=1~m2) (Data is sorted in
algebraic order.)
The data which is sorted is stored in the m1×m2 registers starting from the
register specified by D. If S and D specify the same register, the sorting result
gotten will be the same as the original data in the register specified by S.
It is better that the rightmost number of the device number of the register
specified by S is 0.
After the instruction is scanned m1 times, the sorting of data will be complete.
After the sorting of data is complete, M1029 will be ON.
The instruction can be used several times in a program, but one instruction is
executed at a time.
When X0 is turned ON, the data specified is sorted in ascending order. When
the sorting of the data specified is complete, M1029 is ON. When the
instruction is executed, the data specified can not be changed. If users want to
sort the data specified again, they can turn X0 from OFF to ON again.
X0
SORT
D0
K5
K5
D50
D100
1. The data which will be sorted is shown below.
m2 columns of data
Column
Row
m1 rows of data
5-78
1
Student
number
2
Column
3
4
5
Chinese
English
Math
Physics
1
(D0) 1
(D5) 90
(D10) 75
(D15) 66
(D20) 79
2
(D1) 2
(D6) 55
(D11) 65
(D16) 54
(D21) 63
3
(D2) 3
(D7) 80
(D12) 98
(D17) 89
(D22) 90
4
(D3) 4
(D8) 70
(D13) 60
(D18) 99
(D23) 50
5
(D4) 5
(D9) 95
(D14) 79
(D19) 75
(D24) 69
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
2. If the value in D100 is K3, users can get the sorting result shown below.
Column
Row
1
Student
number
m2 columns of data
Column
2
3
4
5
Chinese
English
Math
Physics
m1 rows of data
1
(D50) 4
(D55) 70
(D60) 60
(D65) 99
(D70) 50
2
(D51) 2
(D56) 55
(D61) 65
(D66) 54
(D71) 63
3
(D52) 1
(D57) 90
(D62) 75
(D67) 66
(D72) 79
4
(D53) 5
(D58) 95
(D63) 79
(D68) 75
(D73) 69
5
(D54) 3
(D59) 80
(D64) 98
(D69) 89
(D74) 90
3. If the value in D100 is K5, users can get the sorting result shown below.
Column
Row
m1 rows of data
DVP-10PM Application Manual
1
Student
number
2
m2 columns of data
Column
3
4
5
Chinese
English
Math
Physics
1
(D50) 4
(D55) 70
(D60) 60
(D65) 99
(D70) 50
2
(D51) 2
(D56) 55
(D61) 65
(D66) 54
(D71) 63
3
(D52) 5
(D57) 95
(D62) 79
(D67) 75
(D72) 69
4
(D53) 1
(D58) 90
(D63) 75
(D68) 66
(D73) 79
5
(D54) 3
(D59) 80
(D64) 98
(D69) 89
(D74) 90
5-79
5 Applied Instructions and Basic Usage
API
78 D
FROM
Reading data from a control
register in a special module
P
Bit device
X
Y
M
Word device
S
K
H
m1
＊
m2
＊
KnX KnY KnM KnS
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
D
＊
n
＊
Applicable model
10PM
16-bit instruction (9 steps)
Continuity
FROM
FROMP
instruction

Pulse
instruction
32-bit instruction (17 steps)
Continuity
Pulse
DFROMP
instruction
instruction
DFROM

Please refer to the additional remark below.
 Note: m1 is in the range of 0 to 255 (16-bit instruction/32-bit instruction).
m2 is in the range of 0 to 499 (16-bit instruction/32-bit instruction).
n is in the range of 1 to (500-m2) (16-bit instruction).
n is in the range of 1~(500-m2)/2 (32-bit instruction).
The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)

E xp la nat io n



E xa mple

m1: Special module number (m1 is in the range of 0 to 255.); m2: Control
register number (m2 is in the range of 0 to 499.); D: Device in which the data
read will be stored; n: Quantity of data which will be read (16-bit instruction:
1~(500-m2); 32-bit instruction: 1~(500-m2)/2
A DVP-10PM series motion controller can read the data in a control register in
a special module by means of the instruction.
Please refer to the additional remark on the instruction TO for more information
about the numbering of special modules.
The value in CR#29 in special module 0 is read, and then stored in D0 in the
motion controller used. The value in CR#30 in special module 0 is read, and
then stored in D1 in the motion controller used. The two values are read at the
same time.
When X0 is ON, the instruciton is executed. When X0 is turned OFF, the
instruction is not executed, and the values which are read remain unchanged.
X0
FROM
5-80
K0
K29
D0
K2
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
79 D
TO
Writing data into a control register
in a special module
P
Bit device
X
Y
M
Word device
S
K
H
m1
＊
m2
KnX KnY KnM KnS
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
S
＊
＊
＊
＊
＊
＊
＊
n
＊
＊
＊
＊
＊
＊
＊
Applicable model
10PM

16-bit instruction (9 steps)
Continuity
TO
TOP
instruction
Pulse
instruction
32-bit instruction (17 steps)
Continuity
DTO
DTOP
instruction
Pulse
instruction

Please refer to the additional remark below.
 Note: m1 is in the range of 0 to 255 (16-bit instruction/32-bit instruction).
m2 is in the range of 0 to 499 (16-bit instruction/32-bit instruction).
n is in the range of 1 to (500-m2) (16-bit instruction).
n is in the range of 1~(500-m2)/2 (32-bit instruction).
The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)

E xp la nat io n


E xa mple

m1: Special module number (m1 is in the range of 0 to 255.); m2: Control
register number (m2 is in the range of 0 to 499.); D: Data which will be written
into a control register; n: Quantity of data which will be written (16-bit instruction:
1~(500-m2); 32-bit instruction: 1~(500-m2)/2
A DVP-10PM series motion controller can write data into a control register in a
special module by means of the instruction.
The 32-bit instruction DTO is used. The value in (D11, D10) is written into
(CR#13, CR#12) in special module 0. One value is written at a time.
When X0 is ON, the instruction is executed. When X0 is turned OFF, the
instruction is not executed, and the value which is written remains unchanged.
X0
DTO
A dditio nal
re mark

K0
K12
D10
K1
Regulation of operands
1. m1: m1 is a special module number. It is the number of a special module
connected to the DVP-10PM series motion controller used.
The number of the first special module which is connected to the DVP-10PM
series motion cotroller used is 0. Eight special modules at most can be
connected to the DVP-10PM series motion controller used, and they do not
occupy I/O devices.
2. m2: m2 is a control register number. the 16-bit memories in a special
modules are called control registers. Control register numbers are decimal
numbers. The operation of a special module and setting values are stored in
the control registers in the special module.
3. If the instruction FROM/TO is used, one control register is taken as a unit for
the reading/writing of data. If the instruction DFROM/DTO is used, two
control registers are taken as a unit for the reading/writing of data.
High 16 bits
CR #10
Low 16 bits
CR #9
Contr ol r egister number specified
4. n which is 2 in a 16-bit instruction has the same meaning as n which is 1 in
a 32-bit instruction.
DVP-10PM Application Manual
5-81
5 Applied Instructions and Basic Usage
Contr ol r egis ter
specified
Device
specified
D0
CR #5
D0
CR #5
D1
CR #6
D1
CR #6
D2
CR #7
D2
CR #7
D3
D4
CR #8
CR #9
D3
D4
CR #8
CR #9
D5
CR #10
D5
CR #10
16 - bit instruci ton: n= 6


E xamp le 1
C ontr ol r egis ter
specified
Device
specified
32 - bit instruction: n= 3
The application of the instruciton FROM/TO is described below.
The characteristic curve of DVP04AD-H2 is adjusted. The offset for channel 1 is
0 V (K0LSB), and the gain for channel 1 is 2.5 V (K2,000LSB).
M1002
TO
K0
K1
H0
K1
TO
K0
K33
H0
K1
TO
K0
K18
K0
K1
TO
K0
K24
K2000
K1
X0

E xamp le 2
1. H0 is written into CR#1 in the analog input module whose number is 0, and
channel 1 is set to mode 0 (voltage input: -10 V~+10 V).
2. H0 is written into CR#33. Channel 1~channel 4 can be tuned.
3. When X0 is turned from OFF to ON, the offset K0LSB is writtedn into CR#18,
and the gain K2,000LSB is written into CR#24.
The characteristic curve of DVP04AD-H2 is adjusted. The offset for channel 2 is
2 mA (K400LSB), and the gain for channel 2 is 18 mA (K3,600LSB).
M1002
TO
K0
K1
H18
K1
TO
K0
K33
H0
K1
TO
K0
K19
K400
K1
TO
K0
K25
K3600
K1
X0
1. H18 is written into CR#1 in the analog input module whose number is 0, and
channel 2 is set to mode 3 (current input: -20 mA~+20 mA).
2. H0 is written into CR#33. Channel 1~channel 4 can be tuned.
3. When X0 is turned from OFF to ON, the offset K400LSB is writtedn into
CR#19, and the gain K3,600LSB is written into CR#25.
5-82
DVP-10PM Application Manual
5

E xamp le 3
Applied Instructions and Basic Usage
The characteristic curve of DVP02DA-H2 is adjusted. The offset for channel 2 is
0 mA (K0LSB), and the gain for channel 2 is 10 mA (K1,000LSB).
M1002
TO
K1
K1
H18
K1
TO
K1
K33
H0
K1
TO
K1
K22
K0
K1
TO
K1
K28
K1000
K1
X0

E xamp le 4
1. H18 is written into CR#1 in the analog output module whose number is 1,
and channel 2 is set to mode 3 (current output: 0 mA~+20 mA).
2. H0 is written into CR#33. Channel 1~channel 2 can be tuned.
3. When X0 is turned from OFF to ON, the offset K0LSB is writtedn into CR#22,
and the gain K1,000LSB is written into CR#28.
The characteristic curve of DVP02DA-H2 is adjusted. The offset for channel 2 is
2 mA (K400LSB), and the gain for channel 2 is 18 mA (K3,600LSB).
M1002
TO
K1
K1
H10
K1
TO
K1
K33
H0
K1
TO
K1
K23
K400
K1
TO
K1
K29
K3600
K1
X0
1. H10 is written into CR#1 in the analog output module whose number is 1,
and channel 2 is set to mode 2 (current output: +4 mA~+20 mA).
2. H0 is written into CR#33. Channel 1~channel 2 can be tuned.
3. When X0 is turned from OFF to ON, the offset K400LSB is writtedn into
CR#23, and the gain K K3,600LSB is written into CR#29.
DVP-10PM Application Manual
5-83
5 Applied Instructions and Basic Usage
API
Applicable model
87 D
ABS
Absolute value
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
D
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in
the decimal numeral system, e.g. K1X0 (octal numeral system),
K4SY20 (octal numeral system), K1M0 (decimal numeral system),
and K4S16 (decimal numeral system).
E xp la nat io n




E xa mple
16-bit instruction (9 steps)
Continuity
ABS
ABS P
instruction
Pulse
instruction
32-bit instruction (17 steps)
Continuity
DABSP
instruction
Pulse
instruction
DABS

Flag: None
D: Device whose absolute value will be gotten
When the instruction ABS is executed, the absolute value of the value in D is
gotten.
Generally, the pulse instructions ABSP and DABSP are used.
When X0 is turned from OFF to ON, the absolute value of the value in D0 is
gotten.
X0
ABS
5-84
10PM
D0
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
MODRD
100
Reading Modbus data
10PM

Bit device
X
Y
M
Word device
S
KnX KnY KnM KnS
T
C
D
V
H
S1
＊
＊
＊
S2
＊
＊
＊
－
n
＊
＊
＊

n is in the range of K1 to K6.
Please refer to specifications for more information about device
ranges.
E xp la nat io n





E xamp le 1
－
32-bit instruction
 Note: S1 is in the range of K0 to K254.


Z
16-bit instruction (7 steps)
Continuity
MODRD
－
instruction
K
－
－
－
Flags
M1120~M1129 and M1140~M1143
Please refer to the additional remark below.
S1: Device address; S2: Data address; n: Data length
The instruction MODRD is used to drive peripheral equipment in a Modbus
ACII/RUT mode. The RS-485 ports on Delta VFD series AC motor drives
(except VFD-A series AC motor drives) conform to a Modbus communication
format. Users can read data from a Delta AC motor drive by means of the
instruction MODRD.
S2 is a data address. If the data address specified is illegal, the device which is
connected will respond with an error message, an error code will be stored in
D1130 in the DVP-10PM series motion controller used, and M1141 will be ON.
The data which is sent by a peripheral is stored in D1070~D1085. After a
DVP-10PM series motion controller receives the data sent by a peripheral, it
will automatically check whether the data received is correct. If an error occurs,
M1140 will be ON.
If an ASCII mode is used, the data sent by a peripheral will be ASCII
characters, and the DVP-10PM series motion controller used will convert the
data received into values, and store the values in D1050~D1055. If an RTU
mode is used, D1050~D1055 will be invalid.
If a DVP-10PM series motion controller sends correct data to a peripheral after
M1140 or M1141 is turned ON, and the data with which the peripheral
responds is correct, M1140 or M1141 will be reset.
A DVP-10PM series motion controller is connected to a VFD-B series AC
motor drive (ASCII mode: M1143=OFF)
M1002
MOV
H 87
SET
M1120
MOV
K100
D1120
C ommunication protocol: 9600,8,E,1
T he communication pr otocol set i s r etained.
D 1129
Communication timeout: 100 ms
X0
R eques t for s endi ng data
C ommunication command:
D evice addr ess: 01
X0
D ata address: H2101
MOD RD
K1
H2101
K6
D ata length: 6 w ords
M1127
T he data receiv ed is stored i n D1070~ D1085 in the form
Pr oc essing the data received of ASCII characters . The DVP -10PM s eries moti on controller
automatic al ly c onvert the ASC II charac ter s i nto values, and
stored the values in D 1050~ D1055.
M1127
RST
T he sending/
M1127 is r es et.
rec eption of
data is complete.
SET
M1122
DVP-10PM series motion controller  VFD-B series AC motor drive: The
DVP-10PM series motion controller sends “01 03 2101 0006 D4”.
VFD-B series AC motor drive  DVP-10PM series motion controller: The
DVP-10PM series motion controller receives “01 03 0C 0100 1766 0000 0000
0136 0000 3B”.
DVP-10PM Application Manual
5-85
5 Applied Instructions and Basic Usage
Data transmission registers in the DVP-10PM series motion controller
(message sent by the DVP-10PM series motion controller):
Register
Data
D1089 low
‘0’
30 H
ADR 1
D1089 high
‘1’
31 H
ADR 0
D1090 low
D1090 high
D1091 low
D1091 high
D1092 low
D1092 high
D1093 low
D1093 high
D1094 low
D1094 high
D1095 low
D1095 high
‘0’
‘3’
‘2’
‘1’
‘0’
‘1’
‘0’
‘0’
‘0’
‘6’
‘D’
‘4’
30 H
33 H
32 H
31 H
30 H
31 H
30 H
30 H
30 H
36 H
44 H
34 H
CMD 1
CMD 0
Description
ADR (1,0): Address of the
VFD-B series AC motor
drive
CMD (1,0): Command
code
Starting data address
Quantity of data (count by the word)
LRC CHK 1
LRC CHK 0
LRC CHK (0,1):
Checksum
Data reception reigsters in the DVP-10PM series motion controller (message
with which the VFD-B series AC motor drive responds):
5-86
Register
D1070 low
D1070 high
D1071 low
D1071 high
D1072 low
D1072 high
‘0’
‘1’
‘0’
‘3’
‘0’
‘C’
Data
30 H
31 H
30 H
33 H
30 H
43 H
D1073 low
‘0’
30 H
D1073 high
‘1’
31 H
D1074 low
‘0’
30 H
D1074 high
‘0’
30 H
D1075 low
‘1’
31 H
D1075 high
‘7’
37 H
D1076 low
‘6’
36 H
D1076 high
‘6’
36 H
D1077 low
‘0’
30 H
D1077 high
‘0’
30 H
D1078 low
‘0’
30 H
D1078 high
‘0’
30 H
D1079 low
‘0’
30 H
D1079 high
‘0’
30 H
D1080 low
‘0’
30 H
D1080 high
‘0’
30 H
Description
ADR 1
ADR 0
CMD 1
CMD 0
Quantity of data (count by the byte)
Contents of the
address 2101 H
The DVP-10PM series
motion controller
automatically converts
the ASCII characters
into values, and store
the values in D1050.
(D1050=0100 H)
Contents of the
address 2102 H
The DVP-10PM series
motion controller
automatically converts
the ASCII characters
into values, and store
the values in D1051.
(D1051=1766 H)
Contents of the
address 2103 H
The DVP-10PM series
motion controller
automatically converts
the ASCII characters
into values, and store
the values in D1052.
(D1052=0000 H)
Contents of the
address 2104 H
The DVP-10PM series
motion controller
automatically converts
the ASCII characters
into values, and store
the values in D1053.
(D1053=0000 H)
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Register

E xamp le 2
Data
D1081 low
‘0’
30 H
D1081 high
‘1’
31 H
D1082 low
‘3’
33 H
D1082 high
‘6’
36 H
D1083 low
‘0’
30 H
D1083 high
‘0’
30 H
D1084 low
‘0’
30 H
D1084 high
‘0’
30 H
D1085 low
D1085 high
‘3’
‘B’
33 H
42 H
Description
The DVP-10PM series
motion controller
automatically converts
Contents of the
the ASCII characters
address 2105 H
into values, and store
the values in D1054.
(D1054=0136 H)
Contents of the
address 2106 H
The DVP-10PM series
motion controller
automatically converts
the ASCII characters
into values, and store
the values in D1055.
(D1055=0000 H)
LRC CHK 1
LRC CHK 0
A DVP-10PM series motion controller is connected to a VFD-B series AC
motor drive (RTU mode: M1143=ON)
M1002
D1120
Communication protocol: 9600,8,E,1
MOV
H87
SET
M1120
MOV
K100
SET
M1143
RTU m ode
SET
M1122
MODRD
K1
Reques t for s endi ng data
Communication command:
Device addr ess: 01
K2
H2102
Data address: H2102
Data length: 2 words
T he communication pr otocol set i s r etained.
D1129
Communication timeout: 100 ms
X0
X0
M1127
Pr oc essing the data received
RST
T he reception
of data is complete.
M1127
T he data receiv ed is stored i n D1070~ D1085 i n the form
of hexadecimal values.
M1127 is r es et.
DVP-10PM series motion controller  VFD-B series AC motor drive: The
DVP-10PM series motion controller sends “01 03 2102 0002 6F F7”.
VFD-B series AC motor drive  DVP-10PM series motion controller: The
DVP-10PM series motion controller receives “01 03 04 1770 0000 FE 5C”.
Data transmission registers in the DVP-10PM series motion controller
(message sent by the DVP-10PM series motion controller):
Register
D1089 low
D1090 low
D1091 low
D1092 low
D1093 low
D1094 low
D1095 low
D1096 low
DVP-10PM Application Manual
Data
01 H
03 H
21 H
02 H
00 H
02 H
6F H
F7 H
Description
Address
Function
Starting data address
Quantity of Data (count by the word)
CRC CHK Low
CRC CHK High
5-87
5 Applied Instructions and Basic Usage
Data reception registers in the DVP-10PM series motion controller (message
with which the VFD-B series AC motor drive responds):
Register
D1070 low
D1071 low
D1072 low
D1073 low
D1074 low
D1075 low
D1076 low
D1077 low
D1078 low

E xamp le 3




Data
01 H
03 H
04 H
17 H
70 H
00 H
00 H
FE H
5C H
Description
Address
Function
Quantity of Data (count by the byte)
Contents of the address 2102 H
Contents of the address 2103 H
CRC CHK Low
CRC CHK High
If a communication timeout occurs, the data received is incorrect, or the values
of parameters of the instruction MODRD are incorrect when a DVP-10PM
series motion controller is connected to a VFD-B series AC motor drive (ASCII
mode: M1143=OFF), the sending of data will be retried.
When X0 is ON, the DVP-10PM series motion controller used reads the data in
the data address H2100 in the VFD-B series AC motor drive whose device
address is 01, and store the data in D1070~D1085 in the form of ASCII
characters. The DVP-10PM series motion controller will automatically convert
the ASCII characters in D1070~D1085 into values, and store the values in
D1050~D1055.
If a communication timeout occurs, M1129 will be ON. If M1129 is ON, M1122
will be set to ON.
If the data received is incorrect, M1140 will be ON. If M1140 is ON, M1122 will
be set to ON.
If the values of parameters of the instruction MODWR is incorrect, M1141 will
be ON. If M1141 is ON, M1122 will be set to ON.
M1002
MOV
H87
SET
M1120
MOV
K100
SET
M1122
D1120
Communication protocol: 9600,8,E,1
T he communication pr otocol set i s r etained.
D1129
Communication timeout: 100 ms
X0
Reques t for s endi ng data
M1129
When a communication timeout oc curs, the sending of data is r etr ied.
M1140
When the data received is incorr ec t, the sending of data i s r etr ied.
M1141
When the values of par ameter s of MODRD are incorr ec t, the sending of data i s r etr ied.
Communication command:
Device addr ess: 01
K1
H2100
K6
Data address: H2101
MODRD
Data length: 6 words
M1127
T he data receiv ed is stored in D1070~ D1085 in the form
Pr oc essing the data received of ASCII characters . The DVP -10PM s eries motion controller
automatic al ly convert the ASCII charac ter s i nto values, and
stored the values in D1050~D1055.
M1127
RST
M1127 is r es et.
T he reception
of data is complete.
X0
M1129
RST
A dditio nal
re mark
5-88


M1129 M1129 is r es et.
LDP/ANDP/ORP and LDF/ANDF/ORF can not precede the instruction MODRD
(function code: H03), otherwise the data stored in data reception registers will
be incorrect.
The instruction can be used several times in a program, but one instruction is
executed at a time.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
MODWR
101
Writing Modbus data
10PM

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
S1
＊
＊
＊
S2
＊
＊
＊
n
＊
＊
＊
V
 Note: S1 is in the range of K0 to K254.
Z
16-bit instruction (7 steps)
Continuity
－
instruction
MODWR
32-bit instruction
－

Please refer to specifications for more information about device
ranges.
E xp la nat io n






E xamp le 1
－
－
－
－
Flags
M1120~M1129 and M1140~M1143
Please refer to the additional remark below.
S1: Device address; S2: Data address; n: Data which is written
The instruction MODWR is used to drive peripheral equipment in a Modbus
ACII/RUT mode. The RS-485 ports on Delta VFD series AC motor drives
(except VFD-A series AC motor drives) conform to a Modbus communication
format. Users can write data into a Delta AC motor drive by means of the
instruction MODWR.
S2 is a data address. If the data address specified is illegal, the device which is
connected will respond with an error message, an error code will be stored in
D1130 in the DVP-10PM series motion controller used, and M1141 will be ON.
For example, the data address 8000H in a VFD-B series AC motor drive is
illegal, and therefore M1141 is ON, and the value in D1130 is 2. Please refer to
VFD-B User Manual for more information about error codes.
The data which is sent by a peripheral is stored in D1070~D1076. After a
DVP-10PM series motion controller receives the data sent by a peripheral, it
will automatically check whether the data received is correct. If an error occurs,
M1140 will be ON.
If a DVP-10PM series motion controller sends correct data to a peripheral after
M1140 or M1141 is turned ON, and the data with which the peripheral
responds is correct, M1140 or M1141 will be reset.
A DVP-10PM series motion controller is connected to a VFD-B series AC
motor drive (ASCII mode: M1143=OFF)
M1002
MOV
H87
SET
M1120
MOV
K100
SET
M1122
D1120
Communication protocol: 9600,8,E,1
T he communication pr otocol set i s r etained.
D1129 Communication timeout: 100 ms
X0
X0
M1127
Communication command:
Device addr ess: 01
H0100 H1770
K1
MOD WR
Data address: H0100
Data:H1770
T
he
data
receiv ed is stored in D1070~ D1085
Pr oc essing the data receiv ed
in the for m of ASCII character s.
RST
T he reception
of data is complete.
DVP-10PM Application Manual
Reques t for s endi ng data
M1127
M1127 is r eset.
5-89
5 Applied Instructions and Basic Usage
DVP-10PM series motion controller  VFD-B series AC motor drive: The
DVP-10PM series motion controller sends “01 06 0100 1770 71”.
VFD-B series AC motor drive  DVP-10PM series motion controller: The
DVP-10PM series motion controller receives “01 06 0100 1770 71”.
Data transmission registers in the DVP-10PM series motion controller
(message sent by the DVP-10PM series motion controller):
Register
D1089 low
D1089 high
D1090 low
D1090 high
D1091 low
D1091 high
D1092 low
D1092 high
D1093 low
D1093 high
D1094 low
D1094 high
D1095 low
D1095 high
Data
‘0’
‘1’
‘0’
‘6’
‘0’
‘1’
‘0’
‘0’
‘1’
‘7’
‘7’
‘0’
‘7’
‘1’
30 H
31 H
30 H
36 H
30 H
31 H
30 H
30 H
31 H
37 H
37 H
30 H
37 H
31 H
ADR 1
ADR 0
CMD 1
CMD 0
Description
ADR (1,0): Address of the
VFD-B series AC motor drive
CMD (1,0): Command code
Data address
Data
LRC CHK 1
LRC CHK 0
LRC CHK (0,1): Checksum
Data reception reigsters in the DVP-10PM series motion controller (message
with which the VFD-B series AC motor drive responds):
Register
D1070 low
D1070 high
D1071 low
D1071 high
D1072 low
D1072 high
D1073 low
D1073 high
D1074 low
D1074 high
D1075 low
D1075 high
D1076 low
D1076 high
5-90
Data
‘0’
‘1’
‘0’
‘6’
‘0’
‘1’
‘0’
‘0’
‘1’
‘7’
‘7’
‘0’
‘7’
‘1’
Description
30 H
31 H
30 H
36 H
30 H
31 H
30 H
30 H
31 H
37 H
37 H
30 H
37 H
31 H
ADR 1
ADR 0
CMD 1
CMD 0
Data address
Data
LRC CHK 1
LRC CHK 0
DVP-10PM Application Manual
5

E xamp le 2
Applied Instructions and Basic Usage
A DVP-10PM series motion controller is connected to a VFD-B series AC
motor drive (RTU mode: M1143=ON)
M1002
MOV
H87
SET
M1120
MOV
K100
SET
M1143
D1120
Communication protocol: 9600,8,E,1
T he communication pr otocol set i s r etained.
D1129
Communication timeout: 100 ms
RTU mode
X1
Reques t for s endi ng data
Communication command:
Device addr ess: 01
H2000
MOD WR
K1
H12
Data address: H2000
Data:H12
Pr oc essing the data received T he data receiv ed is stored i n D1070~ D1085
in the for m of hexadecim al values.
SET
M1122
RST
T he reception
of data is complete.
M1127
X0
M1127
M1127 is r es et.
DVP-10PM series motion controller  VFD-B series AC motor drive: The
DVP-10PM series motion controller sends “01 06 2000 0012 02 07”.
VFD-B series AC motor drive  DVP-10PM series motion controller: The
DVP-10PM series motion controller receives “01 06 2000 0012 02 07”.
Data transmission registers in the DVP-10PM series motion controller
(message sent by the DVP-10PM series motion controller):
Register
D1089 low
D1090 low
D1091 low
D1092 low
D1093 low
D1094 low
D1095 low
D1096 low
Data
01 H
06 H
20 H
00 H
00 H
12 H
02 H
07 H
Description
Address
Function
Data address
Data
CRC CHK Low
CRC CHK High
Data reception reigsters in the DVP-10PM series motion controller (message
with which the VFD-B series AC motor drive responds):
Register
D1070 low
D1071 low
D1072 low
D1073 low
D1074 low
D1075 low
D1076 low
D1077 low
DVP-10PM Application Manual
Data
01 H
06 H
20 H
00 H
00 H
12 H
02 H
07 H
Description
Address
Function
Data address
Data content
CRC CHK Low
CRC CHK High
5-91
5 Applied Instructions and Basic Usage

E xamp le 3




If a communication timeout occurs, the data received is incorrect, or the values
of parameters of the instruction MODRD are incorrect when a DVP-10PM
series motion controller is connected to a VFD-B series AC motor drive (ASCII
mode: M1143=OFF), the sending of data will be retried.
When X0 is ON, the DVP-10PM series motion controller used write H1770
(K6000) into the data address H0100 in the VFD-B series AC motor drive
whose device address is 01.
If a communication timeout occurs, M1129 will be ON. If M1129 is ON, M1122
will be set to ON.
If the data received is incorrect, M1140 will be ON. If M1140 is ON, M1122 will
be set to ON.
If the values of parameters of the instruction MODWR is incorrect, M1141 will
be ON. If M1141 is ON, M1122 will be set to ON.
M1002
MOV
H 87
SET
M1120
MOV
K100
SET
M1122
D1120
Communication protocol: 9600,8,E ,1
T he communication pr otocol set is r etained.
D 1129
Communi cation timeout: 100 ms
X0
R eques t for s ending data
M1129
When a communication timeout occ urs, the sendi ng of data is retried.
M1140
When the data r eceived is i nc orrec t, the sending of data is retri ed.
M1141
When the values of par ameter s of MO DRD are inc orrect, the s endi ng of data is retried.
X0
MODWR
K1
H 0100
H1770
Communi cation command:
Device addr ess: 01
Data address: H0100
Data: H1770
M1127
Pr oc essing the data received
R ST
T he reception
of data is complete.
T he data receiv ed is stored in D1070~D 1085 in the form
of ASCII characters.
M1127
M1127 is r es et.
M1129
M1129 is r es et.
M1129
R ST

E xamp le 4

5-92
If a communication timeout occurs, the data received is incorrect, or the values
of parameters of the instruction MODRD are incorrect when a DVP-10PM
series motion controller is connected to a VFD-B series AC motor drive (ASCII
mode: M1143=OFF), the sending of data will be retried. The number of times
the sending of data is retired is stored in D0. The default value in D0 is 3. If
communication is retried successfully, users can control the communication by
means of triggering a condition.
When X0 is ON, the DVP-10PM series motion controller used write H1770
(K6000) into the data address H0100 in the VFD-B series AC motor drive
whose device address is 01.
DVP-10PM Application Manual
5



Applied Instructions and Basic Usage
If a communication timeout occurs, M1129 will be ON. If M1129 is ON, M1122
will be set to ON. The number of times the sending of data is retired is stored in
D0. The default value in D0 is 3.
If the data received is incorrect, M1140 will be ON. If M1140 is ON, M1122 will
be set to ON. The number of times the sending of data is retired is stored in
D0. The default value in D0 is 3.
If the values of parameters of the instruction MODWR is incorrect, M1141 will
be ON. If M1141 is ON, M1122 will be set to ON. The number of times the
sending of data is retired is stored in D0. The default value in D0 is 3.
M1002
D 1120
MOV
H87
SET
M1120
MOV
K100
D1129
MOV
K3
D0
SET
M1122
C ommunication protocol: 9600,8,E,1
T he communication pr otocol set is r etained.
Communication timeout: 100 ms
X0
Reques t for s endi ng data
M1129
LD>=
D0
D 100
When a communication timeout oc curs, the sending of data is retri ed.
M1140
When the data r eceived is incorrec t, the sending of data is r etr ied.
M1141
When the values of par ameter s of MODRD are i nc orrec t, the sending of data is retri ed.
X0
MOD WR
K1
INC
D100
H0100
H 1770
M1122
Communication command:
Device addr ess: 01
Data address: H0100
Data: H1770
M1127
Pr oc essing the data received T he data receiv ed is stored i n
D 1070~ D1085 i n the form of ASCII char acter s.
T he reception
of data is complete.
R ST
M1127
RST
D100
RST
M1129
RST
M1140
RST
M1141
M1127 is r es et.
M1129
M1129 is r es et.
M1140
M1141
A dditio nal
re mark


If LDP/ANDP/ORP or LDF/ANDF/ORF precedes the instruction MODRD
(function code: H06 or H10), M1122 must be set to ON before MODRD is
executed.
The instruction can be used several times in a program, but one instruction is
executed at a time.
DVP-10PM Application Manual
5-93
5 Applied Instructions and Basic Usage
API
Applicable model
110 D
ECMP
Comparing binary floating-point values
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
D
S1
＊
＊
S2
＊
＊
D
＊
＊
10PM
V
＊
－
Z
－
－
32-bit instruction (9 steps)
Continuity
DECMPP
instruction
DECMP

－
Pulse
instruction
Flag: None
 Note: Please refer to specifications for more information about device
ranges.
Only the 32-bit instructions DECMP and DECMPP are valid.
The operand D occupies three consecutive devices.
F represents a floating-point value. There is a decimal point in a
floating-point value.

E xp la nat io n


E xa mple




S1: Binary floating-point value 1; S2: Binary floating-point value 2; D:
Comparison result (D occupies three consecutive devices.)
The instruction is used to compare the binary floating-point value in S1 with that
in S2. The comparison result (＞, ＝, or＜)is stored in D.
If S1 is a floating-point value, the instruction will be used to compare the S1 with
the binary floating-point value in S2. If S2 is a floating-point value, the
instruction will be used to compare the binary floating-point value in S1 with S2.
If the operand D is M10, M10, M11, and M12 will be occupied automatically.
When X0 is ON, the instruction DECMP is executed, and M10, M11, or M12 is
ON. When X0 is OFF, the execution of the instruction DECMP stops, and the
states of M10, M11, and M12 remain unchanged.
If users want to get the result that the value in (D1, D0)≧ the value in (D101,
D100), they have to connect M10 and M11 in series. If users want to get the
result that the value in (D1, D0)≦ the value in (D101, D100), they have to
connect M11 and M12 in series. If users want to get the result that the value in
(D1, D0)≠the value in (D101, D100), they have to connect M10, M11, and M12
in series.
If users want to reset M10, M11, or M12, they can use the instruction RST or
ZRST.
X0
DECMP
D0
D100
M10
M10
If the value in ( D1, D0)> the value in (D101, D100) , M10 will be O N.
M11
If the value in ( D1, D0)= the value in (D101, D100) , M11 will be O N.
M12
If the value in ( D1, D0) <the value i n (D 101, D 100) , M12 w ill be O N.
A dditio nal
re mark
5-94

Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
111 D
EZCP
Binary floating-point zonal
comparison
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
D
V
Z
－
－
＊
＊
S2
＊
＊
DEZCP
S
＊
＊

＊
＊
10PM

16-bit instruction
C
S1
D
Applicable model
－
－
32-bit instruction (12 steps)
Continuity
Pulse
DEZCPP
instruction
instruction
Flag: None
＊
 Note: The operand D occupies three consecutive devices.
The value in S1 is less than the value in S2.
Please refer to specifications for more information about device
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DEZCP and DEZCPP are valid.

E xp la nat io n



E xa mple



S1: Minimum binary floating-point value; S2: Maximum binary floating-point
value; S: Binary floating-point value; D: Comparison result (D occupies three
consecutive devices.)
The instruction is used to compare the binary floating-point value in S with that
in S1, and compare the binary floating-point value in S with that in S2. The
comparison result is stored in D.
If S1 is a floating-point value, the instruction will be used to compare S1 with the
binary floating-point value in S2. If S2 is a floating-point value, the instruction
will be used to compare the binary floating-point value in S1 with S2.
If the binary floating-point value in S1 is greater than that in S2, the binary
floating-point value in S1 will be taken as the maximum/minimum value during
the execution of the instruction EZCP.
If the operand D is M0, M0, M1, and M2 will be occupied automatically.
When X0 is ON, the instruction DEZCP is executed, and M0, M1, or M2 is ON.
When X0 is OFF, the execution of the instruction DEZCP stops, and the states
of M0, M1, and M2 remain unchanged.
If users want to reset M0, M1, or M2, they can use the instruction RST or
ZRST.
X0
D EZCP
D0
D10
D 20
M0
M0
If the value in ( D1, D0) >the value in (D21, D 20) , M0 will be O N.
M1
M2
If the value in ( D1, D0) <the value in (D 21, D 20) < the value in (D11, D10),
M1 will be O N.
If the value in ( D21, D20) >the v alue in (D 11, D10), M2 wi ll be ON .
A dditio nal
re mark

Please refer to section 5.3 for more information about performing operations on
floating-point values.
DVP-10PM Application Manual
5-95
5 Applied Instructions and Basic Usage
API
Applicable model
112 D
MOVR
Transferring a floating-point value
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
S
D
＊
＊
＊
16-bit instruction (7 steps)
T
C
D
＊
＊
＊
V
Z

E xa mple

－
－
DMOVR P
Pulse
instruction
Flag: None
S: Source; D: Destination
The operand S can be a floating-point value.
When the instruction is executed, the value in S is transferred to D. When the
instruction is not executed, the value in D is unchanged.
When X0 is OFF, the value in (D11, D10) is unchanged. When X0 is ON, the
value F1.2 is transferred to the data register (D11, D10).
X0
DMOVR
5-96
－
32-bit instruction
Continuity
instruction
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in
the decimal numeral system, e.g. K1X0 (octal numeral system),
K4SY20 (octal numeral system), K1M0 (decimal numeral system),
and K4S16 (decimal numeral system).
E xp la nat io n
－
DMOVR
 Note: All devices can not be modified by V devices and Z devices.



10PM
F1.2
D10
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
116 D
RAD
Converting a degree to a radian
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
＊
S
D
V
Z
＊
＊
D
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DRAD and DRADP are valid.
E xp la nat io n
－
－
－
32 bit instruction (6 steps)
Continuity
DRADP
instruction
DRAD
 Note: Please refer to specifications for more information about device


10PM
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S: Source (degree); D: Conversion result (radian)
The equation below is used to convert a degree into a radian.
Radian＝Degree×(π /180)




E xa mple
If the absolute value of a conversion result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of a conversion reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If a converseion result is 0, a zero flag will be ON.
When X0 is ON, the degree in (D1, D0) is converted into a radian, and the
conversion result is stored in (D11, D10). The radian in (D11, D10) is a binary
floating-point value.
X0
DRAD
A dditio nal
re mark

D0
D10
S
D1
D0
Degree
Binary floating- point number
D
D 11
D 10
Radian (Degree X / 180)
Binary floating- point number
Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5-97
5 Applied Instructions and Basic Usage
API
Applicable model
117 D
DEG
Converting a radian to a degree
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
＊
S
D
V
Z
＊
＊
D
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DDEG and DDEGP are valid.
E xp la nat io n
－
－
－
－
32-bit instruction (6 steps)
Continuity
Pulse
DDEGP
instruction
instruction
DDEG
 Note: Please refer to specifications for more information about device


10PM

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S: Source (radian); D: Conversion result (degree)
The equation below is used to convert a radian into a degree.
Degree＝Radian×(180/π)




E xa mple
If the absolute value of a conversion result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of a conversion reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If a converseion result is 0, a zero flag will be ON.
When X0 is ON, the radian in (D1, D0) is converted into a degree, and the
conversion result is stored in (D11, D10). The degree in (D11, D10) is a binary
floating-point value.
X0
DDEG
A dditio nal
re mark
5-98

D0
D10
S
D1
D0
Radian
Binary floating- point number
D
D 11
D 10
Degree ( Radian X 180/p)
Binary floating- point number
Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
120 D
EADD
Binary floating-point addition
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
D
V
Z
－
S1
＊
＊
S2
＊
＊
DEADD
＊

D
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DEADD and DEADDP are valid.








E xamp le 1
－
－
Pulse
instruction
Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Augend; S2: Addend; D: Sum
The binary floating-point value in S2 is added to the binary floating-point
value in S1, and the sum is stored in D.
If S1 is a floating-point value, the instruction will be used to add the binary
floating-point value in S2 to S1. If S2 is a floating-point value, the instruction
will be used to add S2 to the binary floating-point value in S1.
S1 and S2 can be the same register. If the instruction DEADD is used under
the circumstances, the value in the register is added to itself whenever the
conditional contact is ON in a scan cycle. Generally, the pulse instruction
DEADDP is used.
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of an oepration reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If an operation result is 0, a zero flag will be ON.
When X0 is ON, the binary floating-point value in (D3, D2) is added to the
binary floating-point value in (D1, D0), and the sum is stored in (D11, D10).
X0
DEADD

E xamp le 2
D0
D2
D10
When X0 is ON, F1234.0 is added to the binary floating-point value in (D11,
D10), and the sum is stored in (D21, D20).
X2
DEADD
A dditio nal
re mark
－
32-bit instruction (9 steps)
Continuity
DEADDP
instruction
 Note: Please refer to specifications for more information about device
E xp la nat io n
10PM

D10
F1234.0
D20
Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5-99
5 Applied Instructions and Basic Usage
API
Applicable model
121 D
ESUB
Binary floating-point subtraction
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
D
V
Z
－
S1
＊
＊
S2
＊
＊
DESUB
＊

D
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DEADD and DEADDP are valid.
E xp la nat io n






E xamp le 1
－
－
－
32-bit instruction (9 steps)
Continuity
Pulse
DESUBP
instruction
instruction
 Note: Please refer to specifications for more information about device


10PM
Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Minuend; S2: Subtrahend; D: Difference
The binary floating-point value in S2 is subtracted from the binary floating-point
value in S1, and the difference is stored in D.
If S1 is a floating-point value, the instruction will be used to subtract the binary
floating-point value in S2 from S1. If S2 is a floating-point value, the instruction
will be used to subtract S2 from the binary floating-point value in S1.
S1 and S2 can be the same register. If the instruction DESUB is used under the
circumstances, the value in the register is subtracted from itself whenever the
conditional contact is ON in a scan cycle. Generally, the pulse instruction
DESUBP is used.
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of an oepration reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If an operation result is 0, a zero flag will be ON.
When X0 is ON, the binary floating-point value in (D3, D2) is subtracted from
the binary floating-point value in (D1, D0), and the difference is stored in (D11,
D10).
X0
DESUB

E xamp le 2
D0
5-100
D10
When X2 is ON, the binary floating-point value in (D1, D0) is subtracted from
F1234.0, and the difference is stored in (D11, D10).
X2
DESUB F1234.0
A dditio nal
re mark
D2

D0
D10
Please refer to section 5.3 for more information about performing operations on
floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
122 D
EMUL
Binary floating-point multiplication
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
C
D
S1
＊
＊
S2
＊
＊
V
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Onlyt the 32-bit instructions DEMUL and DEMULP are valid.






E xamp le 1
16-bit instruction
－
－
32-bit instruction (9 steps)
Continuity
DEMULP
instruction
DEMUL
 Note: Please refer to specifications for more information about device


Z
－
＊
D
E xp la nat io n
10PM
－
Pulse
instruction

Flags
Ox
O100
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Multiplicand; S2: Multiplier; D: Product
The binary floating-point value in S1 is multiplied by the binary floating-point
value in S2, and the product is stored in D.
If S1 is a floating-point value, the instruction will be used to multiply S1 by the
binary floating-point value in S2. If S2 is a floating-point value, the instruction
will be used to multiply the binary floating-point value in S1 by S2.
S1 and S2 can be the same register. If the instruction DEMUL is used under the
circumstances, the value in the register is multiplied by itself whenever the
conditional contact is ON in a scan cycle. Generally, the pulse instruction
DEMULP is used.
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of an oepration reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If an operation result is 0, a zero flag will be ON.
When X1 is ON, the binary floating-point value in (D1, D0) is multiplied by the
binary floating-point value in (D11, D10), and the product is stored in (D21,
D20).
X1
DEMUL

E xamp le 2
D0
D20
When X2 is ON, F1234.0 is multiplied by the binary floating-point value in (D1,
D0), and the product is stored in (D11, D10).
X2
DEMUL F1234.0
A dditio nal
re mark
D10

D0
D10
Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5-101
5 Applied Instructions and Basic Usage
API
Applicable model
123 D
EDIV
Binary floating-point division
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
D
V
－
Z
S1
＊
＊
S2
＊
＊
DEDIV
＊

D
 Note: Please refer to specifications for more information about device
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DEDIV and DEDIVP are valid.
E xp la nat io n








E xamp le 1
10PM
－
－
32-bit instruction (9 steps)
Continuity
DEDIVP
instruction
－
Pulse
instruction
Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
M1793 M1953 Operation error flag
 Please refer to the additional remark below.
S1: Dividend; S2: Divisor; D: Quotient and remainder
The binary floating-point value in S1 is divided by the binary floating-point value
in S2, and the quotient is stored in D.
If S1 is a floating-point value, the instruction will be used to divide S1 by the
binary floating-point value in S2. If S2 is a floating-point value, the instruction
will be used to divide the binary floating-point value in S1 by S2.
If the value in S2 is 0, an operation error will occur, the instruciton will not be
executed, an operation error flag will be ON, and the error code H0E19 will
appear.
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of an oepration reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If an operation result is 0, a zero flag will be ON.
When X1 is ON, the binary floating-point value in (D1, D0) is divided by the
binary floating-point value in (D11, D10), and the quotient is stored in (D21,
D20).
X1
DEDIV

E xamp le 2
5-102
D10
D20
When X2 is ON, the binary floating-point value in (D1, D0) is divided by
F1234.0, and the quotient is stored in (D11, D10).
X2
DEDIV
A dditio nal
re mark
D0

D0
F1234.0
D10
Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
124 D
EXP
Exponent of a binary floating-point
value
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
D
V
＊
＊
D
 Note: Please refer to specifications for more information about device
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DEXP and DEXPP are valid.
E xp la nat io n

－
Z
－
－
32-bit instruction (6 steps)
Continuity
DEXPP
instruction
DEXP
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.

S: Source device; D: Device in which an operation result is stored

EXP[D+1, D]=[S+1，S]. e is a base (e=2.71828), and S is an exponent.

The value in S can be a positive value or a negative value. D must be a 32-bit
register, and the value in S must be a floating-point value.
The value in D is eS. (e is 2.71828, and S represents a source value.)
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of an oepration reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If an operation result is 0, a zero flag will be ON.
When M0 is ON, the value in (D1, D0) is converted into a binary floating-point
value, and the conversion result is stored in (D11, D10).
When M1 is ON, the exponentiation with the value in (D11, D10) as an
exponent is performed. The result is a binary floating-point number, and is
stored in (D21, D20).
When M2 is ON, the binary floating-point value in (D21, D20) is converted into
a decimal floating-point value, and the conversion result is stored in (D31,
D30). (The value in D31 is the value in D30 to the power of 10.)





E xa mple
10PM
16-bit instruction
C
＊
S
Applicable model


M0
DFLT
D0
D10
DEXP
D10
D20
DEBCD
D20
D30
M1
M2
A dditio nal
re mark

Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5-103
5 Applied Instructions and Basic Usage
API
125 D
LN
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
＊
S
D
V
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DLN and DLNP are valid.






E xa mple



－
－
32-bit instruction (6 steps)
Continuity
DLNP
instruction
DLN
 Note: Please refer to specifications for more information about device

－
Z
＊
E xp la nat io n
10PM
16-bit instruction
C
＊
D


Applicable model
Natural logarithm of a binary
floating-point value
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
M1793 M1953 Operation error flag
 Please refer to the additional remark below.
S: Source device; D: Device in which an operation result is stored
The natural logarithm of the value in S is calculated.
Ln[S+1, S]=[D+1, D]
The value in S can only be a positive value. D must be a 32-bit register, and
the value in S must be a floating-point value.
f the value in S is not a positive value, an operation error will occur, the
instruciton will not be executed, an operation error flag will be ON, and the
error code H0E19 will appear.
eD=S.→The value in D=lnS (S: Source device)
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of an oepration reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If an operation result is 0, a zero flag will be ON.
When M0 is ON, the value in (D1, D0) is converted into a binary floating-point
value, and the conversion result is stored in (D11, D10).
When M1 is ON, the natural logarithm of the floating-point value in (D11, D10)
is calculated, and the operation result is stored in (D21, D20).
When M2 is ON, the binary floating-point value in (D21, D20) is converted into
a decimal floating-point value, and the conversion result is stored in (D31,
D30). (The value in D31 is the value in D30 to the power of 10.)
M0
DFLT
D0
D10
DLN
D10
D20
DEBCD
D20
D30
M1
M2
A dditio nal
re mark
5-104

Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
126 D
LOG
Logarithm of a binary floating-point
value
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
D
V
－
Z
＊
＊
S2
＊
＊
DLOG
＊

ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DLOG and DLOGP are valid.
E xp la nat io n







E xa mple



－
－
32-bit instruction (9 steps)
Continuity
DLOGP
instruction
 Note: Please refer to specifications for more information about device

10PM
16-bit instruction
C
S1
D
Applicable model
－
Pulse
instruction
Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Device in which the base is stored; S2: Source device; D: Device in which
an operation result is stored
The logarithm of the value in S2 with respect to the value in S1 is calculated,
and the operation result is stored in D.
The values in S1 and S2 can only be positive values. D must be a 32-bit
register, and the values in S1 and S2 must be floating-point values.
S1D=S2→D=LogS1S2
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of an oepration reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If an operation result is 0, a zero flag will be ON.
When M0 is ON, the values in (D1, D0) and (D3, D2) are converted into binary
floating-point values, and the conversion results are stored in (D11, D10) and
(D13, D12) respectively.
When M1 is ON, the logarithm of the binary floating-point value in (D13, D12)
with respect to the binary floating-point value in (D11, D10) is calculated, and
the operation result is stored in (D21, D20).
When M2 is ON, the binary floating-point value in (D21, D20) is converted into
a decimal floating-point value, and the conversion result is stored in (D31,
D30). (The value in D31 is the value in D30 to the power of 10.)
M0
DFLT
D0
D10
DFLT
D2
D12
DLOG
D10
D12
DEBCD
D20
D30
M1
D20
M2
A dditio nal
re mark

Please refer to section 5.3 for more information about performing operations on
floating-point values.
DVP-10PM Application Manual
5-105
5 Applied Instructions and Basic Usage
API
127 D
ESQR
Square root of a binary floating-point
value
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
D
V
＊
ranges.
S is greater than or equal to 0.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DESQR and DESQRP are valid.




E xamp le 1
－
32-bit instruction (6 steps)
Continuity
DESQRP
instruction
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1793 M1953 Operation error flag
 Please refer to the additional remark below.
X0
D0
D10
(D1, D0)
(D11, D10)
Binary floating- point
number

E xamp le 2
Binary floating- point
number
When X2 is ON, the square root of F1234.0 is calculated, and the result is
stored in (D11, D10).
X2
DESQR F1234.0
5-106
－
S: Source device; D: Device in which a result is stored
The square root of the binary floating-point value in S is calculated, and the
result is stored in D.
If S is a floating-point value, the instruction will be used to calculate the
floating-point value.
If an operation result is 0, a zero flag will be ON.
If the value in S is not a positive value, an operation error will occur, the
instruciton will not be executed, an operation error flag will be ON, and the
error code H0E19 will appear.
When X0 is ON, the square root of the binary floating-point value in (D1, D0) is
calculated, and the result is stored in (D11, D10).
DESQR
A dditio nal
re mark

DESQR
 Note: Please refer to specifications for more information about device
E xp la nat io n
－
Z
＊
D


10PM
16-bit instruction
C
＊
S
Applicable model

D10
Please refer to section 5.3 for more information about performing operations on
floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
128 D
POW
Power of a floating-point value
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
D
V
Z
－
S1
＊
＊
S2
＊
＊
DPOW
＊

D







E xa mple


－
－
Pulse
instruction
Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
M1793 M1953 Operation error flag
 Please refer to the additional remark below.
ranges.
Only the 32-bit instructions DPOW and DPOWP are valid.
F represents a floating-point value. There is a decimal point in a
floating-point value.
E xp la nat io n
－
32-bit instruction (9 steps)
Continuity
DPOWP
instruction
 Note: Please refer to specifications for more information about device

10PM
S1: Device in which a base is stored; S2: Device in which a power is stored; D:
Device in which the operation result is stored
The binary floating-point value in S1 is raised to the power of the value in S2,
and the operation result is stored in D.
D=POW[S1+1, S1][S2+1, S2]
The value in S1 can only be a positive value, whereas the value in S2 can be a
positive value or a negative value. D must be a 32-bit register, and the values
in S1 and S2 must be floating-point values.
If the values in S1 and S2 are invalid, an operation error will occur, the
instruciton will not be executed, an operation error flag will be ON, and the
error code H0E19 will appear.
If the absolute value of an operation result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of an operation reuslt is less than the minimum
floating-point value available, a borrow flag will be ON.
If an operation result is 0, a zero flag will be ON.
When M0 is ON, the values in (D1, D0) and (D3, D2) are converted into binary
floating-point values, and the conversion results are stored in (D11, D10) and
(D13, D12) respectively.
When M1 is ON, the binary floating-point value in (D11, D10) is raised to the
power of the binary floating-point value in (D13, D12), and the operation result
is stored in (D21, D20).
When M2 is ON, the binary floating-point value in (D21, D20) is converted into
a decimal floating-point value, and the conversion result is stored in (D31,
D30). (The value in D31 is the value in D30 to the power of 10.)
M0
D2
D12
D10
D12
D20
D30
M1
D20
M2
DEBCD
A dditio nal
re mark

Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5-107
5 Applied Instructions and Basic Usage
API
Applicable model
129 D
INT
Converting a binary floating-point
value into a binary integer
P
Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
D
＊
D
＊
V
Z
 Note: Please refer to specifications for more information about device
ranges.
Only the 32-bit instructions DINT and DINTP are valid.
E xp la nat io n



E xa mple

16-bit instruction
C
S


10PM
－
－
－
32-bit instruction (5 steps)
Continuity
DINT
DINTP
instruction
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the explanation below.
S: Source device; D: Conversion result
The binary floating-point value in S is converted into a binary value. The
integer part of the binary value is stored in D, and the fractional part of the
binary value is dropped.
The instruction is the opposite of API 49 DFLT.
If a conversion result is 0, a zero flag will be ON.
If the fractional part of a conversion result is dropped, a borrow flag will be ON.
If a converesion result is not in the range of -2,147,483,648 to 2,147,483,647, a
carry flag will be ON.
When X1 is ON, the binary floating-point value in (D21, D20) is converted into
a binary value. The integer part of the binary value is stored in (D31, D30), and
the fractional part of the binary value is dropped.
X1
DINT
5-108
D20
D30
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
130 D
SIN
Sine of a binary floating-point value
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
16-bit instruction
T
C
＊
S
D
V
－
Z
＊
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1760 M1920 Radian/Degree flag
 Please refer to the additional remark below.
Please refer to specifications for more information about device
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DSIN and DSINP are valid.

－
DSIN
 Note: 0o≦ Degree≦ 3600
E xp la nat io n
－
32-bit instruction (6 steps)
Continuity
DSINP
instruction
＊
D


10PM
S: Source value; D: Sine value
Whether the source value in S is a radian or a degree depends on the state of
a radian/degree flag.
If a radian/degree flag is OFF, the source value in S is a radian.
Radian=Degree×π /180.

If a radian/degree flag is ON, the source value in S is a degree.
(0o≦ Degree≦ 3600)


If an operation result is 0, a zero flag will be ON.
The sine of the source value in S is stored in D.
The relation between radians and sine values is shown below.
S: Radian
R: Sine value
R
1
-2
- 32
-2
-
0
2
2
3
2
2
S
-1

E xamp le 1
A radian/degree flag is reset to OFF. The binary floating-point value in (D1, D0)
is a radian. When X0 is ON, the sine of the binary floating-point value in (D1,
D0) is stored in (D11, D10).
M1002
Radian/Degree flag
RST
X0
DSIN
DVP-10PM Application Manual
D0
D10
S
D1
D0
Radian ( Degree X / 180)
Binary floating-point value
D
D 11
D 10
Sine value
Binary floating-point value
5-109
5 Applied Instructions and Basic Usage

E xamp le 2
A radian/degree flag is OFF. A degree is set by means of X0 or X1. After the
degree is converted into a radian, the sine of the radian will be calculated.
X0
DMOVP
K30
D10
(K 30)
(D11, D10)
DMOVP
K60
D10
(K 60)
(D11, D10)
D FLT
D 10
D14
(D11, D10)
X1
M1000
DED IV

E xamp le 3
F 3.1415926
DEMUL
D 14
D20
D SIN
D 40
D50
F 180.0
D20
(D15, D14) Bi nar y floating-point v alue
(
/180)
( D21, D20)
Binary floating-point value
(D 15, D14) Degr ee x ( /180)
(D41,D40) Radian Binary floating-point value
D 40
(D41,D40) R adian
(D51,D50) Sine
Binary floating-point value
A radian/degree flag is set to ON. The value in (D1, D0) is a degree in the
range of 0° to 360°. When X0 is ON, the sine of the value in (D1, D0) is stored
in (D11, D10). The value in (D11, D10) is a binary floating-point value.
M1002
SET
Radian/D egree flag
X0
DSIN
A dditio nal
re mark
5-110

D0
D10
S
D1
D0
D
D 11
D 10
Degree
Sine
Binary floating-point value
Please refer to section 5.3 for more information about performing operations on
floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
131 D
COS
Cosine of a binary floating-point number
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
16-bit instruction
T
C
＊
S
D
V
－
Z
＊
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1760 M1920 Radian/Degree flag
 Please refer to the additional remark below.
Please refer to specifications for more information about device
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DCOS and DCOSP are valid.

－
DCOS
 Note: 0o≦ Degree≦ 3600
E xp la nat io n
－
32-bit instruction (6 steps)
Continuity
DCOSP
instruction
＊
D


10PM
S: Source value; D: Cosine value
Whether the source value in S is a radian or a degree depends on the state of
a radian/degree flag.
If a radian/degree flag is OFF, the source value in S is a radian.
Radian=Degree×π /180.

If a radian/degree flag is ON, the source value in S is a degree.
(0o≦ Degree≦ 3600)


If an operation result is 0, a zero flag will be ON.
The cosine of the source value in S is stored in D.
The relation between radians and cosine values is shown below.
S: Radi an
R: Co sine va lu e
R
1
- 32
-2
-2
0
-2
2
3
2
2
S
-1


E xamp le 1
Radian/Degree flag: If a radian/degree flag is OFF, the source value in S is a
radian. If a radian/degree flag is ON, the source value in S is a degree in the
range of 0° to 360°.
A radian/degree flag is reset to OFF. The binary floating-point value in (D1, D0)
is a radian. When X0 is ON, the cosine of the binary floating-point value in (D1,
D0) is stored in (D11, D10).
M1002
RST
Radian/Degree flag
X0
DCOS
DVP-10PM Application Manual
D0
D10
S
D1
D0
Radian ( Degree X / 180)
Binary floating-point value
D
D 11
D 10
C osine v al ue
Binary floating-point value
5-111
5 Applied Instructions and Basic Usage

E xamp le 2
A radian/degree flag is set to ON. The value in (D1, D0) is a degree in the
range of 0° to 360°. When X0.0 is ON, the cosine of the value in (D1, D0) is
stored in (D11, D10). The value in (D11, D10) is a binary floating-point value.
M1002
SET
Radian/Degree flag
X0
D0
DCO S
A dditio nal
re mark
5-112

D10
S
D1
D0
D
D 11
D 10
D egree
Cosine
Binary floating-point value
Please refer to section 5.3 for more information about performing operations on
floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
132 D
TAN
Tangent of a binary floating-point value
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
16-bit instruction
T
C
D
＊
S
V
－
Z
＊
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1760 M1920 Radian/Degree flag
 Please refer to the additional remark below.
Please refer to specifications for more information about device
ranges.
F represents a floating-point value. There is a decimal point in a
floating-point value.
Only the 32-bit instructions DTAN and DTANP are valid.

－
DTAN
 Note: 0o≦ Degree≦ 3600
E xp la nat io n
－
32-bit instruction (6 steps)
Continuity
DTANP
instruction
＊
D


10PM
S: Source value; D: Tangent value
Whether the source value in S is a radian or a degree depends on the state of
a radian/degree flag.
If a radian/degree flag is OFF, the source value in S is a radian.
Radian=Degree×π /180.

If a radian/degree flag is ON, the source value in S is a degree.
(0o≦ Degree≦ 3600)


If an operation result is 0, a zero flag will be ON.
The tangent of the source value in S is stored in D.
The relation between radians and tangent values is shown below.
R
S: Radian
R: Tang ent va lu e
1
-2
- 32
-2
-
0
2
2
3
2
2
S
-1

E xamp le 1
A radian/degree flag is reset to OFF. The binary floating-point value in (D1, D0)
is a radian. When X0 is ON, the tangent of the binary floating-point value in
(D1, D0) is stored in (D11, D10).
M1002
RST
Radian/Degree flag
X0
DTA N
DVP-10PM Application Manual
D0
D10
S
D1
D0
Radian ( Degree X / 180)
Binary floating-point value
D
D 11
D 10
Tangent value
Binary floating-point value
5-113
5 Applied Instructions and Basic Usage

E xamp le 2
A radian/degree flag is set to ON. The value in (D1, D0) is a degree in the
range of 0° to 360°. When X0 is ON, the tangent of the value in (D1, D0) is
stored in (D11, D10). The value in (D11, D10) is a binary floating-point value.
M1002
Radian/Degree flag
SET
X0
DTA N
A dditio nal
re mark
5-114

D0
D10
S
D1
D0
D
D 11
D 10
Degree
Tangent
Binary floating-point value
Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
133 D
ASIN
Arcsine of a binary floating-point value
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
＊
S
16-bit instruction
C
D
V
Z
＊
＊
D
ranges.
Only the 32-bit instructions DASIN and DASINP are valid.
F represents a floating-point value. There is a decimal point in a
floating-point value.
E xp la nat io n
－
－
－
32-bit instruction (6 steps)
Continuity
DASINP
instruction
DASIN
 Note: Please refer to specifications for more information about device


Applicable model
10PM
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1793 M1953 Operation error flag
 Please refer to the additional remark below.
S: Source value (binary floating-point value); D: Arcsine value
Arcsine value=sin-1
The relation between sine values and arcsine values is shown below.
R
S: Sine va lu e
R: Arc sine v alue
2
-1 ,0
0
1 ,0
S
-2



E xa mple
The decimal floating-point value into which the sine value in S is converted can
only be in the range of -1.0 to +1.0. If it is not in the range, the instruction will
not be executed, an operation error flag will be ON, and the error code H0E19
will appear.
If a conversion result is 0, a zero flag will be ON.
When X0 is ON, the arcsine of the binary floating-point value in (D1, D0) is
stored in (D11, D10).
X0
DASIN
S

D1
D10
D0
Binary floating- point value
Ar csine v alue
Binary floating- point value
Please refer to section 5.3 for more information about performing operations on
floating-point values.
D
A dditio nal
re mark
D0
DVP-10PM Application Manual
D 11
D 10
5-115
5 Applied Instructions and Basic Usage
API
134 D
ACOS
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
D
V
Z
＊
＊
D
ranges.
Only the 32-bit instructions DACOS and DACOSP are valid.
F represents a floating-point value. There is a decimal point in a
floating-point value.
E xp la nat io n

－
－
－
32-bit instruction (6 steps)
Continuity
DACOSP
instruction
DACOS
 Note: Please refer to specifications for more information about device


10PM
16-bit instruction
C
＊
S
Applicable model
Arccosine of a binary floating-point
value
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1793 M1953 Operation error flag
 Please refer to the additional remark below.
S: Source value (binary floating-point value); D: Arccosine value
Arccosine value=cos-1
The relation between cosine values and arccosine values is shown below.
R
S: Cos in e v alue
R: Arc co nsine v alue
2
0
-1, 0



E xa mple
X0
S

D1
D0
D10
D0
Binary floating- point value
Ar ccosine value
Binary floating- point value
Please refer to section 5.3 for more information about performing operations on
floating-point values.
D
5-116
S
The decimal floating-point value into which the cosine value in S is converted
can only be in the range of -1.0 to +1.0. If it is not in the range, the instruction
will not be executed, an operation error flag will be ON, and the error code
H0E19 will appear.
If a conversion result is 0, a zero flag will be ON.
When X0 is ON, the arccosine of the binary floating-point value in (D1, D0) is
stored in (D11, D10).
DACOS
A dditio nal
re mark
1, 0
D 11
D 10
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
135 D
ATAN
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
D
V
Z
＊
＊
D
ranges.
Only the 32-bit instrucitons DATAN and DATANP are valid.
F represents a floating-point value. There is a decimal point in a
floating-point value.
E xp la nat io n

－
－
－
32-bit instruction (6 steps)
Continuity
DATANP
instruction
DATAN
 Note: Please refer to specifications for more information about device


10PM
16-bit instruction
C
＊
S
Applicable model
Arctangent of a binary floating-point
value
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
 Please refer to the additional remark below.
S: Source value (binary floating-point value); D: Arctangent value
Arctangent value=tan-1
The relation between tangent values and arctangent values is shown below.
R
S: Ta ngent value
R: Arctan gent va lu e
2
0
-


E xa mple
2
If a conversion result is 0, a zero flag will be ON.
When X0 is ON, the arctangent of the binary floating-point value in (D1, D0) is
stored in (D11, D10).
X0
DATAN
S

D1
D0
D10
D0
Binary floating- point value
Ar ctangent value
Binary floating- point value
Please refer to section 5.3 for more information about performing operations
on floating-point values.
D
A dditio nal
re mark
S
DVP-10PM Application Manual
D 11
D 10
5-117
5 Applied Instructions and Basic Usage
API
136 D
SINH
Hyperbolic sine of a binary floating-point
value
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
D
V
Z
＊
ranges.
Only the 32-bit instructions DSINH and DSINHP are valid.
F represents a floating-point value. There is a decimal point in a
floating-point value.
－
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S: Source value (binary floating-point value); D: Hyperbolic sine value
Hyperbolic sine value=(es-e-s)/2

When X0 is ON, the hyperbolic sine of the binary floating-point number in (D1,
D0) is stored in (D11, D10).
X0
DSINH


5-118
－


E xa mple
A dditio nal
re mark
－
DSINH
 Note: Please refer to specifications for more information about device
E xp la nat io n

32-bit instruction (6 steps)
Continuity
DSINHP
instruction
＊
D
10PM
16-bit instruction
C
＊
S
Applicable model


D0
D10
S
D1
D0
Binary floating- point value
D
D 11
D 10
Hyperbolic sine value
Binary floating- point value
If the absolute value of a conversion result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of a conversion result is less than the minimum
floating-point value available, a borrow flag will be ON.
If a conversion result is 0, a zero flag will be ON.
Please refer to section 5.3 for more information about performing operations on
floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
137 D
COSH
Hyperbolic cosine of a binary
floating-point value
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
D
V
Z
＊
ranges.
Onlyt the 32-bit instructions DCOSH and DCOSHP are valid.
F represents a floating-point value. There is a decimal point in a
floating-point value.
－
－
－
Pulse
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.


S: Source value (binary floating-point value); D: Hyperbolic cosine value
Hyperbolic cosine value=(es+e-s)/2

When X0 is ON, the hyperbolic cosine of the binary floating-point number in
(D1, D0) is stored in (D11, D10).
E xa mple
X0
DCOSH


A dditio nal
re mark
－
DCOSH
 Note: Please refer to specifications for more information about device
E xp la nat io n

32-bit instruction (6 steps)
Continuity
DCOSHP
instruction
＊
D
10PM
16-bit instruction
C
＊
S
Applicable model


D0
D10
S
D1
D0
Binary floating- point value
D
D 11
D 10
Hyperbolic cosine value
Binary floating- point value
If the absolute value of a conversion result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of a conversion result is less than the minimum
floating-point value available, a borrow flag will be ON.
If a conversion result is 0, a zero flag will be ON.
Please refer to section 5.3 for more information about performing operations on
floating-point values.
DVP-10PM Application Manual
5-119
5 Applied Instructions and Basic Usage
API
138 D
TANH
P
Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
D
V
＊
＊
D
ranges.
Only the 32-bit instructions DTANH and DTANHP are valid.
F represents a floating-point value. There is a decimal point in a
floating-point value.
－
－
－
－
32-bit instruction (6 steps)
Continuity
Pulse
DTANHP
instruction
instruction

Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S: Source value (binary floating-point value); D: Hyperbolic tangent value
Hyperbolic tangent value=(es-e-s)/(es+e-s)

When X0 is ON, the hyperbolic tangent of the binary floating-point number in
(D1, D0) is stored in (D11, D10).
X0
DTANH


5-120
Z


E xa mple
A dditio nal
re mark

DTANH
 Note: Please refer to specifications for more information about device
E xp la nat io n
10PM
16-bit instruction
C
＊
S
Applicable model
Hyperbolic tangent of a binary
floating-point value


D0
D10
S
D1
D0
Binary floating- point value
D
D 11
D 10
Hyperbolic tangent v alue
Binary floating- point value
If the absolute value of a conversion result is greater than the maximum
floating-point value available, a carry flag will be ON.
If the absolute value of a conversion result is less than the minimum
floating-point value available, a borrow flag will be ON.
If a conversion result is 0, a zero flag will be ON.
Please refer to section 5.3 for more information about performing operations
on floating-point values.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
172 D
ADDR
Floating-point addition
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
D
V
Z
－
－
S1
＊
S2
＊
DADDR
D
＊

ranges.
Only the 32-bit instructions DADDR and DADDRP are valid.
E xp la nat io n





E xamp le 1
－
32-bit instruction (13 steps)
Continuity
DADDRP
instruction
 Note: Please refer to specifications for more information about device



10PM
－
Pulse
instruction
Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Augend; S2: Addend; D: Sum
S1 and S2 can be floating-point values.
S1 and S2 can be floating-point values (e.g. F1.2), or data registers in which
floating-point values are stored.
If S1 and S2 are data registers in which floating-point values are stored, the
function of API 172 DAADR is the same as the function of API 120 DEADD.
The floating-point value in S2 is added to the floating-point value in S1, and the
sum is stored in D.
S1 and S2 can be the same register. If the instruction DAADR is used under the
circumstances, the value in the register is added to itself whenever the
conditional contact is ON in a scan cycle. Generally, the pulse instruction
DADDRP is used.
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON. If the absolute value of an
oepration reuslt is less than the minimum floating-point value available, a
borrow flag will be ON. If an operation result is 0, a zero flag will be ON.
When X0 is ON, the floating-point value F2.200E+0 is added to the
floating-point value F1.200E+0, and the sum F3.400E+0 is stored in (D11,
D10). (The floating-point value F1.2 is represented by the scientific notation
F1.200E+0 in a ladder diagram. The number of decimal places which are
displayed can be set by means of the View menu in WPLSoft.)
X0
DADDR

E xamp le 2
F1.200E+0 F2.200E+0
D10
When X0 is ON, the floating-point value in (D3, D2) is added to the
floating-point value in (D1, D0), and the sum is stored in (D11, D10).
X0
DADDR
DVP-10PM Application Manual
D0
D2
D10
5-121
5 Applied Instructions and Basic Usage
API
Applicable model
173 D
SUBR
Floating-point subtraction
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
D
V
Z
－
S1
＊
S2
＊
DSUBR
D
＊

ranges.
Only the 32-bit instructions DSUBR and DSUBRP are valid.
E xp la nat io n





E xamp le 1
－
－
32-bit instruction (13 steps)
Continuity
DSUBRP
instruction
 Note: Please refer to specifications for more information about device



10PM
－
Pulse
instruction
Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Minuend; S2: Subtrahend; D: Subtrahend
S1 and S2 can be floating-point values
S1 and S2 can be floating-point values (e.g. F1.2), or data registers in which
floating-point values are stored.
If S1 and S2 are data registers in which floating-point values are stored, the
function of API 172 DSUBR is the same as the function of API 121 DESUB.
The floating-point value in S2 is subtracted from the floating-point value in S1,
and the difference is stored in D.
S1 and S2 can be the same register. If the instruction DSUBR is used under the
circumstances, the value in the register is subtracted from itself whenever the
conditional contact is ON in a scan cycle. Generally, the pulse instruction
DSUBRP is used.
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON. If the absolute value of an
oepration reuslt is less than the minimum floating-point value available, a
borrow flag will be ON. If an operation result is 0, a zero flag will be ON.
When X0 is ON, the floating-point value F2.200E+0 is subtracted from the
floating-point value F1.200E+0, and the difference F-1.000E+0 is stored in
(D11, D10). (The floating-point value F1.2 is represented by the scientific
notation F1.200E+0 in a ladder diagram. The number of decimal places which
are displayed can be set by means of the View menu in WPLSoft.)
X0
DSUBR

E xamp le 2
D10
When X0 is ON, the floating-point value in (D3, D2) is subtracted from the
floating-point value in (D1, D0), and the difference is stored in (D11, D10).
X0
DSUBR
5-122
F1.200E+0 F2.200E+0
D0
D2
D10
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
174 D
MULR
Floating-point multiplication
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
D
V
Z
－
S1
＊
S2
＊
DMULR
D
＊

ranges.
Only the 32-bit instructions DSUBR and DSUBRP are valid.
E xp la nat io n

－
－
32-bit instruction (13 steps)
Continuity
DMULRP
instruction
 Note: Please refer to specifications for more information about device



10PM
－
Pulse
instruction
Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Multiplicand; S2: Multiplier; D: Product
S1 and S2 can be floating-point values.
S1 and S2 can be floating-point values (e.g. F1.2), or data registers in which
floating-point values are stored.
If S1 and S2 are data registers in which floating-point values are stored, the
function of API 172 DMULR is the same as the function of API 122 DEMUL.。




E xamp le 1
The floating-point value in S1 is multiplied by the floating-point value in S2, and
the product is stored in D.
S1 and S2 can be the same register. If the instruction DSUBR is used under the
circumstances, the value in the register is multiplied by itself whenever the
conditional contact is ON in a scan cycle. Generally, the pulse instruction
DMULRP is used.
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON. If the absolute value of an
oepration reuslt is less than the minimum floating-point value available, a
borrow flag will be ON. If an operation result is 0, a zero flag will be ON.
When X0 is ON, the floating-point value F1.200E+0 is multiplied by the
floating-point value F2.200E+0, and the product F2.640E+0 is stored in (D11,
D10). (The floating-point value F1.2 is represented by the scientific notation
F1.200E+0 in a ladder diagram. The number of decimal places which are
displayed can be set by means of the View menu in WPLSoft.)
X0
DMULR

E xamp le 2
F1.200E+0 F2.200E+0
D10
When X1 is ON, the floating-point value in (D1, D0) is multiplied by the
floating-point value in (D11, D10), and the product is stored in (D21, D20).
X1
DMULR
DVP-10PM Application Manual
D0
D10
D20
5-123
5 Applied Instructions and Basic Usage
API
Applicable model
175 D
DIVR
Floating-point division
P

Bit device
X
Y
M
Word device
S
F
H
KnX KnY KnM KnS
T
16-bit instruction
C
D
V
Z
－
－
S1
＊
S2
＊
DDIVR
D
＊

ranges.
Only the 32-bit instructions DSUBR and DSUBRP are valid.
E xp la nat io n





E xamp le 1
－
32-bit instruction (13 steps)
Continuity
DDIVP
instruction
 Note: Please refer to specifications for more information about device



10PM
－
Pulse
instruction
Flags
Ox
O100
M1808 M1968 Zero flag
M1809 M1969 Borrow flag
M1810 M1970 Carry flag
 Please refer to the additional remark below.
S1: Dividend; S2: Divisor; D: Quotient
S1 and S2 can be floating-point values.
S1 and S2 can be floating-point values (e.g. F1.2), or data registers in which
floating-point values are stored.
If S1 and S2 are data registers in which floating-point values are stored, the
function of API 172 DDIVR is the same as the function of API 123 DEDIV.
The floating-point value in S1 is divided by the floating-point value in S2, and
the product is stored in D.
S1 and S2 can be the same register. If the instruction DSUBR is used under the
circumstances, the value in the register is divided by itself whenever the
conditional contact is ON in a scan cycle. Generally, the pulse instruction
DDIVRP is used.
If the absolute value of an oepration result is greater than the maximum
floating-point value available, a carry flag will be ON. If the absolute value of an
oepration reuslt is less than the minimum floating-point value available, a
borrow flag will be ON. If an operation result is 0, a zero flag will be ON.
When X0 is ON, the floating-point value F1.200E is divided by the
floating-point value F2.200E+0, and the quotient F0.545E+0 is stored in (D11,
D10). (The floating-point value F1.2 is represented by the scientific notation
F1.200E+0 in a ladder diagram. The number of decimal places which are
displayed can be set by means of the View menu in WPLSoft.)
X0
DDIVR

E xamp le 2
D10
When X1 is ON, the floating-point value in (D1, D0) is divided by the
floating-point value in (D11, D10), and the quotient is stored in (D21, D20).
X1
DDIVR
5-124
F1.200E+0 F2.200E+0
D0
D10
D20
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
215~
217
Applicable model
D
LD＃
Logical operation

Bit device
X
10PM
Y
M
Word device
S
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note:＃ represents &, |, or ^.
16-bit instruction (5 steps)
Continuity
LD＃
－
instruction
－
32-bit instruction (7 steps)
Continuity
DLD＃
－
instruction
－

Flag: None
Please refer to specifications for more information about device
ranges.
E xp la nat io n



S1: Source device 1; S2: Source device 2
The instruction is used to compare the value in S1 with that in S2. If the
comparison result is not 0, the condition of the instruction is met. If the
comparison result is 0, the condition of the instruction is not met.
The instruction LD# can be connected to a busbar directly.
API No.
215
216
217





E xa mple


16-bit
32-bit
instruction instruction
LD&
DLD&
LD|
DLD|
LD^
DLD^
ON
S1
S1
S1
&
|
^
S2
S2
S2
OFF
0
0
0
S1
S1
S1
&
|
^
S2
S2
S2
0
0
0
&: Logical AND operation
|: Logical OR operation
^: Logical exclusive OR operation
If a 32-bit counter is used, the 32-bit insturciton DLD# must be used. If a 32-bit
counter and the 16-bit instruction LD# are used, a program error will occur, and
the ERROR LED indicator on the DVP-10PM series motion controller used will
blink. (C200~C255 are 32-bit counters.)
A logical AND operator takes the values in C0 and C10, and performs the
logical AND operation on each pair of corresponding bits. If the operation result
is not 0, Y10 will be ON.
A logical OR operator takes the values in D200 and D300, and performs the
logical OR operation on each pair of corresponding bits. If the operation result
is not 0 and X1 is ON, Y11 will be set to ON.
A logical operator XOR takes the values in C201 and C200, and performs the
logical exclusive OR operation on each pair of corresponding bits. If the
operation result is not 0, or if M3 is ON, M50 will be ON.
Y10
LD &
C0
C10
LD I
D200
D300
SET
DLD ^
C201
C200
M50
X1
Y11
M3
DVP-10PM Application Manual
5-125
5 Applied Instructions and Basic Usage
API
218~
220
Applicable model
D
AND＃
Logical operation

Bit device
X
10PM
Y
M
Word device
S
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: ＃ represents &, |, or ^.
16-bit instruction (5 steps)
Continuity
AND＃
－
instruction
－
32-bit instruction (7 steps)
Continuity
DAND＃
－
instruction
－

Flag: None
Please refer to specifications for more information about device
ranges.
E xp la nat io n



S1: Source device 1; S2: Source device 2
The instruction is used to compare the value in S1 with that in S2. If the
comparison result is not 0, the condition of the instruction is met. If the
comparison result is 0, the condition of the instruction is not met.
The instruction AND# is connected to a contact in series.
API No.
218
219
220





E xa mple


16-bit
32-bit
instruction instruction
AND&
DAND&
AND|
DAND|
AND^
DAND^
ON
S1
S1
S1
&
|
^
S2
S2
S2
OFF
0
0
0
S1
S1
S1
&
|
^
S2
S2
S2
0
0
0
&: Logical AND operation
|: Logical OR operation
^: Logical exclusive OR operation
If a 32-bit counter is used, the 32-bit instruction DAND# must be used. If a 32-bit
counter and the 16-bit instruction AND# are used, a program error will occur, and
the ERROR LED indicator on the DVP-10PM series motion controller used will
blink. (C200~C255 are 32-bit counters.)
When X0 is ON, a logical AND operator takes the values in C0 and C10, and
performs the logical AND operation on each pair of corresponding bits. If the
operation result is not 0, Y10 will be set to ON.
When X1 is OFF, a logical OR operator takes the values in D10 and D0, and
performs the logical OR operation on each pair of corresponding bits. If the
operation result is not 0, Y1 will be set to ON.
When X2 is ON, a logical XOR operator takes the values in (D201, D200) and
(D101, D100), and performs the logical exclusive OR operation on each pair of
corresponding bits. If the operation result is not 0, or if M3 is ON, M50 will be
ON.
X0
AND &
C0
C10
Y10
AND I
D10
D0
SET
DAND ^
D200
D100
M50
X1
Y11
X2
M3
5-126
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
221~
223
Applicable model
D
OR＃
Logical operation

Bit device
X
10PM
Y
M
Word device
S
K
H
KnX
KnY
KnM
KnS
T
C
D
V
Z
S1
＊ ＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
S2
＊ ＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: ＃ represents &, |, or ^.
16-bit instruction (5 steps)
Continuity
OR＃
－
instruction
－
32-bit instruction (7 steps)
Continuity
DOR＃
－
instruction
－

Flag: None
Please refer to specifications for more information about device ranges.
E xp la nat io n



S1: Source device 1; S2: Source device 2
The instruction is used to compare the value in S1 with that in S2. If the
comparison result is not 0, the condition of the instruction is met. If the
comparison result is 0, the condition of the instruction is not met.
The instruction OR# is connected to a contact in parallel.
API No.
221
222
223





E xa mple

16-bit
32-bit
instruction instruction
OR&
DOR&
OR|
DOR|
OR^
DOR^
ON
S1
S1
S1
&
|
^
OFF
S2
S2
S2
0
0
0
S1
S1
S1
&
|
^
S2
S2
S2
0
0
0
&: Logical AND operation
|: Logical OR operation
^: Logical exclusive OR operation
If a 32-bit counter is used, the 32-bit instruction DOR# must be used. If a 32-bit
counter and the 16-bit instruction OR# are used, a program error will occur, and
the ERROR LED indicator on the DVP-10PM series motion controller used will
blink. (C200~C255 are 32-bit counters.)
When X1 is ON, Y0 is ON. Besides, when a logical AND operator performs the
logical AND operation on each pair of corresponding bits in C0 and C10, and
the operation result is not 0, Y0 is ON.
When X2 and M30 are ON, M60 is ON. When a logical OR operator performs
the logical OR operation on each pair of corresponding bits in the 32-bit
register (D11, D10) and the 32-bit register (D21, D20), and the operation result
is not 0, M60 is ON. Besides, when the logical XOR operator performs the
logical exclusive OR operation on each pair of corresponding bits in the 32-bit
counter C235 and the 32-bit register (D201, D200), and the operation result is
not 0, M60 is ON.
X1
Y0
OR &
X2
C0
C10
M30
M60
DVP-10PM Application Manual
DOR I
D10
D20
DOR ^
C235
D200
5-127
5 Applied Instructions and Basic Usage
API
224~
230
Applicable model
D
LD※
Comparing values

Bit device
X
10PM
Y
M
Word device
S
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: ※ represents =, >, <, <>, ≦ , or ≧
16-bit instruction (5 steps)
Continuity
LD※
－
instruction
－
32-bit instruction (7 steps)
Continuity
DLD※
－
instruction
－

Flag: None
Please refer to specifications for more information about device
ranges.
E xp la nat io n


S1: Source device 1; S2: Source device 2
The instruction is used to compare the value in S1 with that in S2. Take the
instruction LD= for instance. If the comparison result is that the value in S1 is
equal to that in S2, the condition of the instruction is met. If the comparison
result is that the value in S1 is not equal to that in S2, the condition of the
instruction is not met.

The instruction LD※ can be connected to a busbar directly.
16-bit
instruction
32-bit
instruction
224
LD＝
225
API No.
E xa mple
ON
OFF
DLD＝
S1＝S2
S1≠S2
LD＞
DLD＞
S1＞S2
S1≦ S2
226
LD＜
DLD＜
S1＜S2
S1≧ S2
228
LD＜＞
DLD＜＞
S1≠S2
S1＝S2
229
LD＜＝
DLD＜＝
S1≦ S2
S1＞S2
230
LD＞＝
DLD＞＝
S1≧ S2
S1＜S2

If a 32-bit counter is used, the 32-bit insturciton DLD※ must be used. If a 32-bit



counter and the 16-bit instruction LD※ are used, ,a program error will occur,
and the ERROR LED indicator on the DVP-10PM series motion controller used
will blink. (C200~C255 are 32-bit counters.)
When the value in C10 is equal to K200, Y10 is ON.
When the value in D200 is greater than K-30, and X1 is ON, Y11 is set to ON.
When the value in C200 is less than K678,493, or when M3 is ON, M50 is ON.
LD=
K200
C10
LD>
D200
K-30
Y10
X1
DLD>
K678493
C200
SET
Y11
M50
M3
5-128
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
232~
238
Applicable model
D
AND※
Comparing values

Bit device
X
10PM
Y
M
Word device
S
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: ※ represents =, >, <, <>, ≦ , or ≧
16-bit instruction (5 steps)
Continuity
AND※
－
instruction
－
32-bit instruction (7 steps)
Continuity
DAND※
－
instruction
－

Flag: None
Please refer to specifications for more information about device
ranges.
E xp la nat io n


S1: Source device 1; S2: Source device 2
The instructions are used to compare the value in S1 with that in S2. Take the
instruction AND= for instance. If the comparison result is that the value in S1 is
equal to that in S2, the condition of the instruction is met. If the comparison
result is that the value in S1 is not equal to that in S2, the condition of the
instruction is not met.

The instruction AND※ is connected to a contact in series.
API No.

E xa mple



16-bit
instruction
32-bit
instruction
ON
OFF
232
AND＝
DAND＝
S1＝S2
S1≠S2
233
AND＞
DAND＞
S1＞S2
S1≦ S2
234
AND＜
DAND＜
S1＜S2
S1≧ S2
236
AND＜＞
DAND＜＞
S1≠S2
S1＝S2
237
AND＜＝
DAND＜＝
S1≦ S2
S1＞S2
238
AND＞＝
DAND＞＝
S1≧ S2
S1＜S2
If a 32-bit counter is used, the 32-bit insturciton DAND※ must be used. If a
32-bit counter and the 16-bit instruction AND※ are used, ,a program error will
occur, and the ERROR LED indicator on the DVP-10PM series motion
controller used will blink. (C200~C255 are 32-bit counters.)
When X0 is ON and the present value in C10 is equal to K200, Y10 is ON.
When X1 is OFF and the value in D0 is not equal to K-10, Y11 is set to ON.
When X2 is ON and the value in (D11, D10) is less than 678,493, or when M3
is ON, M50 is ON.
X0
AND=
K200
C10
Y10
AND<>
K-10
D0
SET
X1
Y11
X2
DAND>
K678493
D10
M50
M3
DVP-10PM Application Manual
5-129
5 Applied Instructions and Basic Usage
API
240~
246
Applicable model
D
OR※
Comparing values

Bit device
X
10PM
Y
M
Word device
S
K
H
KnX KnY KnM KnS
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: ※ represents =, >, <, <>, ≦ , or ≧
16-bit instruction (5 steps)
Continuity
OR※
－
instruction
－
32-bit instruction (7 steps)
Continuity
DOR※
－
instruction
－

Flag: None
Please refer to specifications for more information about device
ranges.
E xp la nat io n


S1: Source device 1; S2: Source device 2
The instructions are used to compare the value in S1 with that in S2. Take the
instruction OR= for instance. If the comparison result is that the value in S1 is
equal to that in S2, the condition of the instruction is met. If the comparison
result is that the value in S1 is not equal to that in S2, the condition of the
instruction is not met.

The instruction OR※ is connected to a contact in parallel.
API No.

E xa mple


16-bit
instruction
32-bit
instruction
ON
OFF
240
OR＝
DOR＝
S1＝S2
S1≠S2
241
OR＞
DOR＞
S1＞S2
S1≦ S2
242
OR＜
DOR＜
S1＜S2
S1≧ S2
244
OR＜＞
DOR＜＞
S1≠S2
S1＝S2
245
OR＜＝
DOR＜＝
S1≦ S2
S1＞S2
246
OR＞＝
DOR＞＝
S1≧ S2
S1＜S2
If a 32-bit counter is used, the 32-bit insturciton DOR※ must be used. If a
32-bit counter and the 16-bit instruction OR※ are used, ,a program error will
occur, and the ERROR LED indicator on the DVP-10PM series motion
controller used will blink. (C200~C255 are 32-bit counters.)
When X1 is ON, or when the present value in C10 is equal to K200, Y0 is ON.
When X2 and M30 are ON, or when the value in (D101, D100) is greater than
or equal to K100,000, M60 is ON.
X1
Y0
OR=
X2
K200
C10
M30
M60
DOR>
=
5-130
D100
K100000
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
147 D
SWAP
Interchanging the high byte in a
device with the low byte in the
device
P
Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
＊
S
＊
＊
＊
T
C
D
V
Z
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in
the decimal numeral system, e.g. K1X0 (octal numeral system),
K4SY20 (octal numeral system), K1M0 (decimal numeral system),
and K4S16 (decimal numeral system).
E xp la nat io n





E xamp le 1
Applicable model
10PM
16-bit instruction (5 steps)
Continuity
SWAP
SWAPP
instruction

Pulse
instruction
32-bit instruction (7 steps)
Continuity
Pulse
DSWAPP
instruction
instruction
DSWAP

Flag: None
S: Source device
When the 16-bit instruction is executed, the high eight bits in S are
interchanged with the low eight bits in S.
When the 32-bit instruction is executed, the high eight bits in S are
interchanged with the low eight bits in S, and the high eight bits in S+1 are
interchanged with the low eight bits in S+1.
Generally, the pulse instructions SWAPP and DSWAPP are used.
When X0 is ON, the high byte in D0 is interchanged with the low byte in D0.
X0
SWAPP
D0
D0
High eight bits

E xamp le 2
Low eight bits
When X0 is ON, the high eight bits in D11 are interchanged with the low eight
bits in D11, and the high eight bits in D10 are interchanged with the low eight
bits in D10.
X0
DSWAP
D10
D11
High eight bits Low eight bits
DVP-10PM Application Manual
D10
High eight bits Low eight bits
5-131
5 Applied Instructions and Basic Usage
API
Applicable model
154 D
RAND
Random value
P

Bit device
X
Y
M
Word device
S
10PM
K
H
S1
＊
＊
＊
＊
＊
S2
＊
＊
＊
＊
＊
D
KnX KnY KnM KnS
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: The instruction supports V devices and Z devices. (If the 16-bit
16-bit instruction (5 steps)
Continuity
RAND
RANDP
instruction
Pulse
instruction
32-bit instruction (7 steps)
Continuity
Pulse
DRANDP
instruction
instruction
DRAND

Flag: None
instruction is used, Z devices can not be used. If the 32-bit
instruction is used, V devices can not be used.)
Please refer to specifications for more information about device
ranges.
If KnX/KnY/KnM/KnS is used, it is suggested that X/devices/Y
devices/M device numbers/S device numbers should start from a
number which is a multiple of 16 in the octal numeral system or in
the decimal numeral system, e.g. K1X0 (octal numeral system),
K4SY20 (octal numeral system), K1M0 (decimal numeral system),
and K4S16 (decimal numeral system).
E xp la nat io n




E xa mple
S1: Minimum random value; S2: Maximum random value; D: Result
16-bit instruction: The value in S1 and the value in S2 are in the range of K0 to
K32,767.
32-bit instruction: The value in S1 and the value in S2 are in the range of K0 to
K2,147,483,647.
The value in S1 must be less than the value in S2. If the value in S1 is greater
than the value in S2, an operation error will occur.
When X0 is ON, the instruction RAND is used to generate a random value in
the range of the value in D0 to the value in D10, and the random value is
stored in D20.
X0
RAND
5-132
D0
D10
D20
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
SCAL
202
Scale
P

Bit device
X
Y
M
10PM
Word device
S
KnX KnY KnM KnS
T
C
D
V
16-bit instruction (9 steps)
Continuity
SCAL
SCALP
instruction
K
H
Z
S1
＊
＊
＊
S2
＊
＊
＊
－
S3
＊
＊
＊

Pulse
instruction
32-bit instruction (7 steps)
－
－
－
Flag: None
＊
D
 Note: Please refer to specifications for more information about device
ranges.
E xp la nat io n







S1: Source device; S2: Slope (Unit: 0.001); S3: Offset; D: Destination device
The values in S1, S2, and S3 must be in the range of -32767 to 32767.
Equation: D=(S1×S2)÷1000+S3
To obtain the value in S2, users have to use the slope equation below, round
the result to the nearest integer, and get a 16-bit integer. To obtain the value in
S3, the users have to use the offset equation below, round the result to the
nearest integer, and get a 16-bit integer.
Slope equation: S2=[(Maximum destination value–Minimum destination
value)÷(Maximum source value–Minimum source value)]×1,000
Offset equation: S3= Minimum destination value–Minimum source
value×S2÷1,000
Output curve
Destinati on value
Maximum destination value
D
Minimum source value
S1
Sourc e value
Maximum sourc e value
Minimum des tination value

E xamp le 1

Suppose the values in S1, S2, and S3 are 500, 168, and -4 respectively. When
X0 is ON, the instruction SCAL is executed, and a scale is stored in D0.
Equation: D0=(500×168)÷1000+(-4)=80
X0
SCAL
DVP-10PM Application Manual
K500
K168
K-4
D0
5-133
5 Applied Instructions and Basic Usage
Destination value
D
Offset=-4
Slope=168

E xamp le 2

Sourc e value
S 1=500
0
Suppose the values in S1, S2, and S3 are 500, -168, and 534 respectively.
When X10 is ON, the instruction SCAL is executed, and a scale value is stored
in D10.
Equation: D10=(500×-168)÷1000+534=450
X10
SCAL
K500
K-168
K534
D10
Destinati on value
D
Slope=- 168
Offset=534
0
A dditio nal
re mark




5-134
S 1= 500
Sourc e value
Only when a slope and an offset are known can the instruction SCAL be used.
If a slope and an offset are unknown, it is suggested that users should use the
instruction SCLP.
The value in S2 must be in the range of –32,768 to 32,767 (The actual value in
S2 must be in the range of –32,768 to 32,767.) If the value in S2 is not in the
range, please use the instruction SCLP instead.
If users use the slop equation above, the maximum source value must be
greater than the minimum source value, and the maximum destination value do
not have to be greater than the minimum destination value.
If the value in D is greater than 32,767, the value stored in D will be 32,767. If
the value in D is less than -32,768, the value stored in D will be -32,768.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
203 D
SCLP
Parameter scale
P

Bit device
X
Y
M
Word device
S
10PM
K
H
KnX KnY KnM KnS
T
C
D
S1
＊
＊
＊
S2
＊
＊
＊
S3
＊
＊
＊
V
＊
D
Z
16-bit instruction (7 steps)
Continuity
SCLP
SCLPP
instruction
Pulse
instruction
32-bit instruction (13 steps)
Continuity
Pulse
DSCLPP
instruction
instruction
DSCLP

Flag: M1162
 Note: Please refer to specifications for more information about device
ranges.
E xp la nat io n


S1: Source device; S2: Parameter (Unit: 0.001); D: Destination device
16-bit instruction: The setting of S2 is described below.
Device
number
S2
S2+1
S2+2
S2+3






Parameter
Maximum source value
Minimum source value
Maximum destination value
Minimum destination value
Setting range
-32768~32767
-32768~32767
-32768~32767
-32768~32767
If the 16-bit instruction is used, S2 will occupy four consecutive devices.
32-bit instruction: The setting of S2 is decribed below.
Device
number
Parameter
S2, S2+1
S2+2, S2+3
S2+4, S2+5
S2+6, S2+7
Maximum source value
Minimum source value
Maximum destination value
Minimum destination value
Setting range
Integer
Floating-point value
-2,147,483,648~
2,147,483,647
32-bit floating-point
values available
If the 32-bit instruction is used, S2 will occupy eight consecutive devices.
Equation: D=[(S1–Minimum source value)×(Maximum destination
value–Minimum destination value)]÷(Maximum source value–Minimum source
value)+Minimum destination value
Relation between the source value in S1 and the destination value in D:
y=kx+b
y=Destination value (D)
k=Slope=(Maximum destination value–Minimum destination value)÷(Maximum
source value–Minimum source value)
x=Source value (S1)
b=Offset =Minimum destination value–Minimum source value×Slope
After the parameters above are substituted for y, k, x, and b in the equation
y=kx+b, the equation below will be obtained.
y=kx+b=D=kS1+b=Slope×S1＋Offset＝Slope×S1＋Minimum destination
value–Minimum source value×Slope=Slope×(S1–Minimum source value)＋
Minimum destination value =(S1–Minimum source value)×(Maximum
destination value–Minimum destination value)÷(Maximum source
value–Minimum source value)＋Minimum destination value

If the value in S1 is greater than the maximum source value, the value in S1 will
be equal to the maximum source value. If the value in S1 is less than the
minimum source value, the value in S1 will be equal to the minimum source
value. After input values and parameters are set, an output curve will be gotten.
DVP-10PM Application Manual
5-135
5 Applied Instructions and Basic Usage
Destinati on value
Maximum destination value
D
Minimum source value
S1
Sourc e value
Maximum source value
Minimum des ti nation value

E xamp le 1

Suppose the value in S1 is 500, the maximum source value in D0 is 3,000, the
minimum source value in D1 is 200, the maximum destination value in D2 is
500, and the minimum destination value in D3 is 30. When X0 is ON, the
instruction SCLP is executed, and a scale is stored in D10.
Equation: D10=[(500–200)×(500–30)]÷(3,000–200)+30=80.35
80.35 is rounded to the nearest integer, and becomes 80. 80 is stored in D10.
X0
MOV
K3000
D0
MOV
K200
D1
MOV
K500
D2
MOV
K30
D3
K500
D0
X0
SCLP
D10
Destinati on value
Maximum destination
value=500
D
Minimum des tination
value=30
S 1=500
0 Minimum
sourc e value=200

E xamp le 2

5-136
Sourc e value
Maximum
sourc e value=3000
Suppose the value in S1 is 500, the maximum source value in D0 is 3,000, the
minimum source value in D1 is 200, the maximum destination value in D2 is
30, and the minimum destination value in D3 is 500. When X0 is ON, the
instruction SCLP is executed, and a scale is stored in D10.
Eequation: D10=[(500–200)×(30–500)]÷(3,000–200)+500=449.64
449.64 is rounded to the nearest integer, and becomes 450. 450 is stored in
D10.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
X0
MOV
K3000
D0
MOV
K200
D1
MOV
K30
D2
MOV
K500
D3
X0
SCLP
K500
D0
D10
Destinati on value
Minimum des tination
value=500
D
Maximum destination
value=30
0


S1 =500
Minimum
sourc e value=200
Sourc e value
Maximum
sourc e value=3000
Suppose S1 is D100, the value in D100 is F500, the maximum source value in
D0 is F3000, the minimum source value in D2 is F200, the maximum
destination value in D4 is F500, and the minimum destination value in D6 is
F30. When X0 is ON, M1162 is set to ON, the instruction DSCLP is executed,
and a scale is stored in D10.
Equation: D10=[(F500–F200)×(F500–F30)]÷(F3000–F200)+F30=F80.35
F80.35 is rounded to the nearest integer, and becomes F80. F80 is stored in
D10.
X0
SET
M1162
DMOVR F500
D100
DMOVR F3000
D0
DMOVR F200
D2
DMOVR F500
D4
DMOVR
F30
D6
X0
DSCLP
A dditio nal
re mark



D100
D0
D10
16-bit instruction: The value in S1 is in the range of the minimum source value
and the maximum source value, i.e. the value in S1 is in the range of -32,768 to
32,767. If the value in S1 exceeds the minimum source value/the maximum
source value, the minimum source value/the maximum source value will be
used.
32-bit instruction: The integer in S1 is in the range of the minimum source value
and the maximum source value, i.e. the integer in S1 is in the range of
-2,147,483,648 to 2,147,483,647. If the integer in S1 exceeds the minimum
source value/the maximum source value, the minimum source value/the
maximum source value will be used.
32-bit instruction: The floating-point value in S1 is in the range of the minimum
source value and the maximum source value, i.e. the floating-point value in S1
DVP-10PM Application Manual
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5 Applied Instructions and Basic Usage

5-138
is a 32-bit floating-point value available. If the floating-point value in S1 exceeds
the minimum source value/the maximum source value, the minimum source
value/the maximum source value will be used.
If users use the instruction, the maximum source value must be greater than
the minimum source value, and the maximum destination value does not have
to be greater than the minimum destination value.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
CJN
256
Negated conditional jump
P

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
 Note: The operand S can be a pointer.
S is in the rage of P0~P255.
A pointer can not be modified by a V device or a Z device.
E xp la nat io n







E xa mple

10PM
V
Z
16-bit instruction (3 steps)
Continuity
CJN
CJNP
instruction
Pulse
instruction
32-bit instruction
－

－
－
－
Flag: None
S: Pointer
If the conditional contact connected to CJN is ON, the next address will be
executed. If the conditional contact connected to CJN is not ON, the address to
which S points will be executed.
If some part of the main program O100 does not need to be executed, users
can use CJN or CJNP to shorten the scan time. Besides, if a dual output is
used, users can use CJ or CJP.
If the program specified by a pointer is prior to the instruction CJN, a watchdog
timer error will occur, and the main program O100 will not be executed. Please
use the instruction carefully.
The instruction CJN can specify the same pointer repeatedly. The pointer
specified by CJN can not be the same as the pointer specified by CALL,
otherwise an error will occur.
When the instruction CJN/CJNP in a program is executed, the actions of the
devices in the program are as follows.
1. The states of the Y devices, the states of the M devices, and the states of
the S devices in the program remain the same as those before the
execution of the jump.
2. The 10 millisecond timers in the program stop counting.
3. The general counters in the program stop counting, and the general applied
instructions in the program are not executed.
4. If the instructions which are used to reset the timers in the program are
driven before the jump is executed, the timers will still be reset during the
execution of the jump.
When X0 is OFF, the execution of the program jumps from address 0 to
address N (P1), and the addresses between address 0 and address N are
skipped.
When X0is ON, the execution of the program starts from address 0, and the
instruction CJN is not executed.
(Negated conditional jump)
X0
C JN
0
P1
X1
Y1
P1
N
X2
Y2
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5 Applied Instructions and Basic Usage
API
Applicable model
JMP
257
Unconditional jump
10PM

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
 Note: The operand S can be a pointer.
S is in the rage of P0~P255.
The instruction does not need to be driven by a contact.
A pointer can not be modified by a V device or a Z device.

E xp la nat io n


E xa mple
V
Z
16-bit instruction (3 steps)
Continuity
JMP
－
instruction
－
32-bit instruction
－

－
－
－
Flag: None
The function of JMP is similar to the function of CJ. CJ must be driven by a
contact whereas JMP does not have to be driven by a contact.
The pulse instruction JMPP is not supported.
After address 0 is scanned, address N will be executed whether there is a
conditional contact before the instruction JMP (and whether the conditional
contact is ON or OFF), and the addresses between address 0 and address N
(P1) will be skipped.
(Unconditional jump)
JMP
0
P1
X1
Y1
P1
N
X2
Y2
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DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
Applicable model
BRET
258
Returning to a busbar
10PM

Bit device
X
Y
M
Word device
S
K
H
KnX KnY KnM KnS
T
C
D
V
 Note: There is no operand.
Z
16-bit instruction (1 step)
Continuity
BRET
－
instruction
32-bit instruction
The instruction does not need to be driven by a contact.
－


E xp la nat io n 

E xa mple
－
－
－
－
Flag: None
The instruction BRET does not have to be driven by a contact.
After the instruction BRET is executed, the instructions which should be driven
by a conditional contact will seem to be connected to a busbar, and will be
executed.
In the general program shown below, the instructions are executed only when
X0 is ON.
X0

MOV
K500
CJ
P10
D10
After the instruction BRET is added, the instructions which should be driven by
a contact will seem to be connected to a busbar, and will be executed.
BRET
DVP-10PM Application Manual
MOV
K500
CJ
P10
D10
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5 Applied Instructions and Basic Usage
API
MMOV
259
P
Bit device
X
Y
M
Word device
S
S
K
H
KnX KnY KnM KnS
＊
＊
＊
D
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: Please refer to specifications for more information about device
ranges.
E xp la nat io n
E xa mple
Applicable model
Converting a 16-bit value into a
32-bit value
10PM

16-bit instruction (5 steps)
Continuity
MMOV
MMOVP
instruction
Pulse
instruction
32-bit instruction
－

－
－
－
Flag: None


S: Source device (16-bit device); D: Destination device (32-bit device)
The value in the 16-bit device S is transferred to the 32-bit device D. The sign
bit in S is duplicated, and stored in D.

When X23 is ON, the value in D4 is transferred to D6 and D7.
X23
MMOV
0
1
" ＋" sig n
" －" si gn
D4
D6
b 15
b0
1 0 0 1 1 0 0 1 0 1 1 1 0 0 0 1 D4
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 0 0 1 D7, D6
b 31
b 16 b 15
b0
Bit 15 is D4 is transferred to bit 15~ bit 31 in (D7, D6). The value in (D7, D6)
becomes a negative value. (The value in D4 is also a negative value.)
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DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
API
RMOV
260
Converting a 32-bit value into a
16-bit value
P
Bit device
X
Y
M
Word device
S
S
K
H
＊
＊
KnX KnY KnM KnS
＊
D
T
C
D
V
Z
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
＊
 Note: Please refer to specifications for more information about device
ranges.
E xp la nat io n
Applicable model
10PM

16-bit instruction (5 steps)
Continuity
RMOV
RMOVP
instruction
Pulse
instruction
32-bit instruction
－

－
－
－
Flag: None


S: Source device (32-bit device); D: Destination device (16-bit device)
Data in the 32-bit device S is transferred to the 16-bit device D. The sign bit in
S is retained.

When X24 is ON, data in D6 and D7 is transferred to D4.
X24
E xa mple
RMOV
b31
D6
D4
b16 b15
b0
1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 1 0 0 1 1 0 0 1 0 1 1 1 0 0 0 1 D7, D6
1 0 0 1 1 0 0 1 0 1 1 1 0 0 0 1 D4
b15
b0
When X24 is ON, bit 31 in D7 is transferred to bit 15 in D4, bit 0~bit 14 in D6
are transferred, and bit 15~bit 30 in D6 and D7 are not transferred.
DVP-10PM Application Manual
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5 Applied Instructions and Basic Usage
5.7 Motion Control Function Block Table
Type
Name
Description
Absolute single-speed
Starting absolute single-speed motion
motion
Relative single-speed
Starting relative single-speed motion
motion
Absolute two-speed motion Starting absolute two-speed motion
Relative two-speed motion Starting relative two-speed motion
Inserting single-speed
Inserting single-speed motion
motion
Inserting two-speed motion Inserting two-speed motion
JOG motion
Starting JOG motion
Manual pulse generator
Uniaxial
Enabling a manual pulse generator mode
mode
motion
control
Electronic gear motion
Starting electronic gear motion
function
Returning home
Starting motion of returning home
blocks
Stopping uniaxial motion Stopping the motion of the axis specified
Parameter setting 1
Setting motion parameters
Parameter setting 2
Setting motion parameters
Reading the present
Reading the present position/speed of an
position/speed of an axis axis
Reading and clearing the present
State of an axis
erroneous state of an axis
Setting the present
Setting the present position of an axis
position of an axis
Setting the polarities of
Setting the polarities of input terminals
input terminals
Multiaxial absolute linear Starting multiaxial absolute linear
Multiaxial interpolation
interpolation
motion
Multiaxial relative linear
Starting multiaxial relative linear
control
interpolation
interpolation
function
Stopping
multiaxial
linear
blocks
Stopping multiaxial linear interpolation
interpolation
High-speed counter
Starting a high-speed counter
High-speed timer
Starting a high-speed timer
Setting high-speed
Starting high-speed comparison
Other motion comparison
control
Resetting high-speed
Resetting high-speed comparison
function
comparison
blocks
Setting high-speed capture Starting high-speed capture
High-speed masking
Starting high-speed masking
Setting the trigger for an interrupt
Setting an interrupt
subroutine
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DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
5.8 Introduction of the Pins in a Motion Control Function Block
5.8.1 Definitions of Input Pins/Output Pins
Common input pins and output pins in motion control function blocks are listed below. The pins listed
below do not appear in a single motion control function block. For example, a motion control function
block only has one input pin, that is, it has either the Execute input pin or the Enable input pin.
Input pin
Name
Execute
Enable
Name
Description
Starting the motion control function block
Starting the motion control function block
Description
Format
BOOL
BOOL
Output pin
Format
Done
The execution of the function block is
complete.
BOOL
Valid
An output value is valid.
BOOL
Busy
The motion control function block is
being executed.
BOOL
Aborted
The execution of the motion control
function block is interrupted by a
command.
BOOL
Error
An error occurs in a function block.
BOOL
Setting value
True/False
True/False
Setting value
There is a transition in the Done output pin’s
signal from low to high when the execution of
motion control function block is complete.
There is a transition in the Valid output pin’s
signal from low to high when there is a
transition in the Enable input pin’s signal from
low to high.
There is a transition in the Busy output pin’s
signal from low to high when there is a
transition in the Execute input pin’s signal from
low to high.
There is a transition in the Aborted output pin’s
signal from low to high when the execution of
the motion control function block is interrupted
by a command.
There is a transition in the Error output pin’s
signal from low to high when an error occurs in
the motion control function block.
A motion control function block has either the Execute input pin or the Enable input pin. The Execute input
pin/The Enable input pin in a motion control function block is used to start the motion control function
block. A motion control function block generally has the Busy output pin and the Done output pin. The
Busy output pin and the Done output pin in a function block indicate the state of the motion control
function block. If the execution of motion control function block is to be interrupted by another motion
control function block, the Aborted output pin will be added to the motion control function block. Besides,
the Error output pin in a motion control function block is used to indicate that an error occurs in the motion
control function block when the motion control function block is executed.
A motion control function block has not only the Execute input pin/the Enable input pin, but also
value/state input pins. The characteristics of the value/state input pins are described below.
 Use of input values
 If the input pin that a motion control function block has is the Execute input pin, values are used
when there is a transition in the Execute input pin’s signal from low to high. If a new value is
created, it becomes valid when the Execute input pin is triggered again.
 If the input pin that a motion control function block has is the Enable input pin, values are used
when there is a transition in the Enable input pin’s signal from low to high. Compared with the
Execute input pin, the Enable input pin is used more often when a value used is updated
repeatedly.
 An input value exceeds a range.
After a motion control function block is started, the input values which are not in ranges allowed will be
limited, or result in an error occurring in the motion control function block. If an error occurring in a
motion control function block results in an error occurring in an axis, the motion control function block
is applied incorrectly. Users should prevent incorrect values from being generated in an applied
DVP-10PM Application Manual
5-145
5 Applied Instructions and Basic Usage
program.
 Output pins are mutually exclusive.
 If the input pin that a motion control function block has is the Execute input pin, only the Busy
output pin, the Done output pin, the Aborted output pin, or the Error output pin can be set to True.
If the Execute input pin is set to True, the Busy output pin, the Done output pin, the Aborted output
pin, or the Error output pin must be set to True.
 If the input pin that a motion control function block has is the Enable input pin, the Valid output pin
and the Error output pin are mutually exclusive, and only the Valid output pin or the Error output
pin can be set to True.
 Time when output data/states are valid
 If the input pin that a motion control function block has is the Execute input pin, the Done output
pin, the Error output pin, the Aborted output pin, and data output are reset when there is a
transition in the Execute input pin’s signal from high to low, but the execution of the function block
does not stop when there is a transition in the Execute input pin’s signal from high to low. Even if
the Execute input pin in a motion control function block is reset before the execution of the motion
control function block is complete, output states will still be generated and retained for one cycle. If
a motion control function block is started again before the execution of the motion control function
block is complete, the motion control function block will not give feedback to the Done output pin
and the Aborted output pin, and an error will occur.
 If the input pin that a motion control function block has is the Enable input pin, the Valid output pin,
the Busy output pin, and the Error output pin are reset when there is a transition in the Enable
input pin’s signal from high to low.
 Characteristic of the Done output pin
The Done output pin in a motion control function block will be set to True after the motion control
function block is executed successfully.
 Characteristic of the Busy output pin
 If the input pin that a motion control function block has is the Execute input pin, the motion control
function block uses the Busy output pin to indicate that the execution of the motion control function
block is not complete, and new output states (values) are expected to be generated. The Busy
output pin is set to True when there is a transition in the Execute input pin’s signal from low to high.
When the Done output pin, the Aborted output pin, and the Error output pin are set to True, the
Busy output pin are reset.
 If the input pin that a motion control function block has is the Enable input pin, the motion control
function block uses the Busy output pin to indicate that the execution of the motion control function
block is not complete, and new output states (values) are expected to be generated. The Busy
output pin in a motion control function block is set to True when there is a transition in the Enable
input pin’s signal from low to high, and is set to True when the motion control function block is
executed. When the Busy output pin is set to True, output states (values) still change.
 Characteristic of the Aborted output pin
The Aborted output pin in a motion control function block is set to True when the execution of the
motion control function block is interrupted by a command.
 Relation between the Enable input pin and the Valid output pin
If the input pin that a motion control function block has is the Enable input pin, the motion control
function block uses the Busy output pin to indicate whether output data/states are valid. The Valid
output pin is set to True only when the Enable input pin is set to true or output data/state are valid. If
an error occurs in a motion control function block, output data/states will not be valid, and the Valid
output pin will be set to False. The Valid output pin in a motion control function block will not be reset
until the error occurring in the motion control function block is eliminated, and output data/states
become valid.
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DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
5.8.2 Timing Diagram for Input/Output Pins
Situation 1
Situation 2
Situation 3
Exec ute
Busy
Done
Er ror
Aborted
Situation 1: The execution of the motion control function block is interrupted.
Situation 2: An error occurs in the motion control function block.
Situation 3: The execution of the motion control function block is complete normally.
Situation 1: The motion control function block is executed normally.
Situation 2: An error occurs in the motion control function block.
DVP-10PM Application Manual
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5 Applied Instructions and Basic Usage
5.8.3 Introducing the Use of PMSoft
The use of the motion control function blocks in PMSoft is introduced below.
(1) Right-click Function Blocks in the system information area in PMSoft.
Click Add Motion Control Function Blocks… on the context menu.
(2)
The Add Function Block window appears.
Users can select motion control function blocks in the Add Function Block window. If the users
click Select All, all the motion control function blocks in the Add Function Block window will be
selected. After users select motion control function blocks, they have to click OK.
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DVP-10PM Application Manual
5
(3)
Applied Instructions and Basic Usage
After the users click OK, the motion control function blocks selected in the Add Function Block
window will be automatically added to Function Blocks in the system information area.
 The folders added to Function Blocks are shown below.
(4)
 Definitions of the folders
 SingleAxis: Uniaxial motion (Uniaxial point-to-point motion and electronic gear
synchronization)
 MultiAxis: Multi-axis motion (multi-axis linear interpolation)
 Others: Other functions (measuring time, high-speed comparison, high-speed capture, and
setting interrupts)
After the users drag motion control function blocks in folder, they can use them.
DVP-10PM Application Manual
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5 Applied Instructions and Basic Usage
5.9 Delta-defined Parameter Table
Delta-defined parameters are for input pins in Delta motion control function blocks. Users can directly use
Delta-defined parameters to operate motion control function blocks without having to know the
descriptions of the input pins in the motion control function blocks. Delta-defined parameters are
described below.
Name
TRUE
FALSE
mcRising
mcFalling
mcPositive
mcNegative
mcSCurve
mcTrapezoid
mcNC
mcNO
Type
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
Value
True
False
True
False
True
False
True
False
True
False
mcUp_Up
BOOL
True
mcUp_Down
BOOL False
mcCmpSet
BOOL
mcCmpRst
BOOL False
mcMotor
mcMachine
mcComp
mcUD
mcPD
mcAB
WORD
WORD
WORD
WORD
WORD
WORD
0
1
2
0
1
2
mc4AB
WORD
3
IntTimer
WORD
0
IntX00
IntX01
IntX02
IntX03
IntX04
IntX05
IntX06
IntX07
IntStart0
IntStop0
IntStart1
IntStop1
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
1
2
3
4
5
6
7
8
1
2
3
4
mcCmpAxis1
WORD
0
mcCmpAxis2
WORD
1
mcCmpAxis3
WORD
2
5-150
True
Motion control function block
Description
Input pin
All motion control function blocks
Input pin
Transition in DOG’s signal from low to high
T_TrSeg2, T_TrSeg1,
T_HomeReturn
Transition in DOG’s signal from high to low
Returning home in the positive direction
T_HomeReturn
Returning home in the negative direction
Speed curve: S curve
T_AxisSetting2
Speed curve: Trapezoid curve
Normally-closed contact
T_InputPolatiry
Normally-open contact
A high-speed timer becomes active when its
signal goes from low to high.
T_HTmr
A high-speed timer becomes active when its
signal goes from high to low.
An output is set when the condition of a
comparison is met.
T_Compare
An output is reset when the condition of a
comparison is met.
Motor unit
T_AxisSetting2
Mechanical unit,
Compound unit
Counting up/down
Pulses+Directions
T_AxisSetting2, T_HCnt
A/B-phase pulses
Four times the frequency of A/B-phase
pulses
An interrupt signal is triggered by a time
interval.
The source of an interrupt signal is X0.
The source of an interrupt signal is X1.
The source of an interrupt signal is X2.
The source of an interrupt signal is X3.
The source of an interrupt signal is X4.
T_Interrupt
The source of an interrupt signal is X5.
The source of an interrupt signal is X6.
The source of an interrupt signal is X7.
The source of an interrupt signal is Start0.
The source of an interrupt signal is Stop0.
The source of an interrupt signal is Start1.
The source of an interrupt signal is Stop1.
The source of a comparison is the present
position of the first axis.
The source of a comparison is the present
T_Compare
position of the second axis.
The source of a comparison is the present
position of the third axis.
DVP-10PM Application Manual
5
Name
Type
Applied Instructions and Basic Usage
Value Motion control function block
mcCmpAxis4
WORD
3
mcCmpC200
WORD
4
mcCmpC204
WORD
5
mcCmpC208
WORD
6
mcCmpC212
WORD
7
mcCmpCLR0
mcCmpCLR1
mcCmpY0
mcCmpY1
mcCmpY2
mcCmpY3
mcCmpRstC200
mcCmpRstC204
mcCmpRstC208
mcCmpRstC212
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
0
1
0
1
2
3
4
5
6
7
mcCapAxis1
WORD
0
mcCapAxis2
WORD
1
mcCapAxis3
WORD
2
mcCapAxis4
WORD
3
mcCapC200
mcCapC204
mcCapC208
mcCapC212
mcCapPG0
mcCapMPGB0
mcCapMPGA0
McCapLSN0
McCapLSP0
McCapDOG0
mcCapStop0
mcCapStart0
mcCapPG1
mcCapMPGB1
mcCapMPGA1
mcCapLSN1
mcCapLSP1
McCapDOG1
mcCapStop1
mcCapStart1
mcX0
mcX1
mcX2
mcX3
mcX4
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
WORD
4
5
9
7
0
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
0
1
2
3
4
DVP-10PM Application Manual
T_Compare
T_Capture
Description
The source of a comparison is the present
position of the fourth axis.
The source of a comparison is the value of
C200.
The source of a comparison is the value of
C204.
The source of a comparison is the value of
C208.
The source of a comparison is the value of
C212.
The device used for a comparison is CLR0.
The device used for a comparison is CLR1.
The device used for a comparison is Y0.
The device used for a comparison is Y1.
The device used for a comparison is Y2.
The device used for a comparison is Y3.
The device used for a comparison is C200.
The device used for a comparison is C204.
The device used for a comparison is C208.
The device used for a comparison is C212.
The source of capture is the present position
of the first axis.
The source of capture is the present position
of the second axis.
The source of capture is the present position
of the third axis.
The source of capture is the present position
of the fourth axis.
The source of capture is the value of C200.
The source of capture is the value of C204.
The source of capture is the value of C208.
The source of capture is the value of C212.
The source of a capture signal is PG0.
The source of a capture signal is MPGB0.
The source of a capture signal is MPGA0.
The source of a capture signal is LSN0.
The source of a capture signal is LSP0.
The source of a capture signal is DOG0.
The source of a capture signal is Stop0.
The source of a capture signal is Start0.
The source of a capture signal is PG1.
The source of a capture signal is MPGB1.
The source of a capture signal is MPGA1.
The source of a capture signal is LSN1.
The source of a capture signal is LSP1.
The source of a capture signal is DOG1.
The source of a capture signal is Stop1.
The source of a capture signal is Start1.
The source of a capture signal is X0.
The source of a capture signal is X1.
The source of a capture signal is X2.
The source of a capture signal is X3.
The source of a capture signal is X4.
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5 Applied Instructions and Basic Usage
Name
mcX5
mcX6
mcX7
mcX10
mcX11
mcX12
mcX13
Type Value Motion control function block
WORD
5
WORD
6
WORD
7
WORD
8 T_Capture
WORD
9
WORD 10
WORD 11
Description
The source of a capture signal is X5.
The source of a capture signal is X6.
The source of a capture signal is X7.
The source of a capture signal is X10.
The source of a capture signal is X11.
The source of a capture signal is X12.
The source of a capture signal is X13.
5.10 Uniaxial Motion Control Function Blocks
5.10.1 Absolute Single-speed Motion
1. Motion control function block
The motion control function block T_AbsSeg1 is used to start absolute single-speed motion. After
absolute single-speed motion is started, the speed of the absolute single-speed motion will increase
from the VBIAS set to the velocity set. The speed of the absolute single-speed motion will not decrease
from the velocity set to the VBIAS set until the present command position of the axis specified is near
the target position set. Users can set the Vbias input pin, the Vmax input pin, the Tacc input pin, and
the Tdec input pin in the motion control function block T_AxisSetting1. The number of pulses is a unit
for the Position input pin, and the number of pulses per second is a unit for the Velocity input pin. The
users can change the unit used by means of the motion control function block T_AxisSetting2.
Sp ee d
T D EC
T AC C
V M AX
Ve lo ci ty
V BI AS
Po si tio n
Ex ecut e
Sta rt posit ion
Targ et po si tio n
2. Input pins/Output pins
Input pin
Name
Axis
5-152
Function
Motion axis
number
Data
type
Setting value
Time when a value is valid
WORD
DVP10PM00M:
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Input pin
Name
Function
Data
type
Execute
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
BOOL
True/False
Position
Absolute
position
DWORD
K-2,147,483,648~
K2,147,483,647
Velocity
Target speed
DWORD
K1~
K2,147,483,647
Name
Done
Busy
Function
The execution
of the motion
control function
block is
complete.
The motion
control function
block is being
executed.
Data
type
BOOL
BOOL
Setting value
Time when a value is valid
-
The value of the Position input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
When the motion control function block
is executed, the value of the Velocity
input pin is updated repeatedly.
Output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal when
motion is
complete.
 There is a transition in the Done
 There is a

transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low



 The execution of
Aborted
The execution
of the motion
control function
block is
interrupted by a
command.
DVP-10PM Application Manual
BOOL

the motion control
function block is
interrupted by a
command.

output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when motion is complete, the
Done output pin will be set to False
in the next cycle.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low to
high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when the execution of the
motion control function block is
interrupted, the Aborted output pin
will be set to False in the next cycle.
5-153
5 Applied Instructions and Basic Usage
Name
Error
Function
An error occurs
in the motion
control function
block.
Data
type
BOOL
Output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 Input values are
incorrect.
 The axis specified
is in motion before
the motion control
function block is
executed.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
The number of pulses is a unit for the Position input pin, and the number of pulses per second is a unit
for the Velocity input pin. Users can change the unit used by means of the motion control function
block T_AxisSetting2.
3. Troubleshooting
Error
The values of input pins in the motion control
function block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
4. Example
Purposes:
 After the first single-speed motion is complete, the second single-speed motion will be executed.
 The second single-speed motion is executed before the execution of the first single-speed motion
is complete.
The motion control function block named FIRST is set so that the first axis moves at a speed of 2,000
pulses per second, and moves for 10,000 pulses. The motion control function block named SECOND
is set so that the first axis moves at a speed of 3,000 pulses per second, and moves for 15,000
pulses.
 After the first single-speed motion is complete, the second single-speed motion will be executed.
Steps:
(a) Set Execute1 to True.
(b) Wait for a transition in Done2’s signal from low to high or a transition in Error2’s signal from
low to high.
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5
Applied Instructions and Basic Usage
 The second single-speed motion is executed before the execution of the first single-speed motion
is complete.
Steps:
(a) Set Execute1 to True.
(b) Set Test to ON when Busy1 is set to True.
(c) Wait for a transition in Done2’s signal from low to high or a transition in Error2’s signal from
low to high.
Timing diagram:
The second motion
follows the first motion.
First
The second motion can
not interrupt the first motion.
Execute1
Busy1
Done1
Second
Test
Execute2
Busy2
Done2
Error2
Motion
Velocity
Position
 After the first single-speed motion is complete, the second single-speed motion will be executed.
After the execution of the motion control function block named FIRST is complete, the motion
control function block named SECOND will be executed. The first axis moves for 25,000 pulses.
 The second single-speed motion is executed before the execution of the first single-speed motion
is complete.
When Error2 is set to True, the first axis moves for 10,000 pulses. The motion control function
block named SECOND is invalid.
5. Module which is supported
The motion control function block T_AbsSeg1 supports DVP10PM00M.
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5 Applied Instructions and Basic Usage
5.10.2 Relative Single-speed Motion
1. Motion control function block
The motion control function block T_RelSeg1 is used to start relative single-speed motion. After
relative single-speed motion is started, the speed of the relative single-speed motion will increase from
the VBIAS set to the velocity set. The speed of the relative single-speed motion will not decrease from
the velocity set to the VBIAS set until the distance for which the relative single-speed motion moves is
the distance set. Users can set the Vbias input pin, the Vmax input pin, the Tacc input pin, and the
Tdec input pin in the motion control function block T_AxisSetting1. The number of pulses is a unit for
the Distance input pin, and the number of pulses per second is a unit for the Velocity input pin. Users
can change the unit used by means of the motion control function block T_AxisSetting2.
Sp ee d
T D EC
T AC C
V M AX
Ve lo ci ty
V BI AS
Po si tio n
Ex ecut e
Sta rt posit ion
Targ et di sta nc e
2. Input pins/Output pins
Input pin
Data
type
Setting value
Time when a value is valid
Motion axis
number
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
Execute
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
BOOL
True/False
-
Distance
Relative
distance
DWORD
K-2,147,483,648~
K2,147,483,647
Velocity
Target speed
DWORD
K1~K2,147,483,647
Name
Axis
5-156
Function
The value of the Distance input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
When the motion control function block
is executed, the value of the Velocity
input pin is updated repeatedly.
DVP-10PM Application Manual
5
Name
Done
Busy
Function
The execution
of the motion
control function
block is
complete.
The motion
control function
block is being
executed.
Data
type
BOOL
BOOL
Applied Instructions and Basic Usage
Output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal when
motion is
complete.
 There is a transition in the Done
 There is a

transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low



 The execution of
Aborted
The execution
of the motion
control function
block is
interrupted by a
command.
BOOL

 Input values are
Error
An error occurs
in the motion
control function
block.
BOOL

the motion control
function block is
interrupted by a
command.
incorrect.
 The axis specified
is in motion before
the motion control
function block is
executed.

output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when motion is complete, the
Done output pin will be set to False
in the next cycle.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low to
high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when the execution of the
motion control function block is
interrupted, the Aborted output pin
will be set to False in the next cycle.
There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
The number of pulses is a unit for the Distance input pin, and the number of pulses per second is a
unit for the Velocity input pin. Users can change the unit used by means of the motion control function
block T_AxisSetting2.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
DVP-10PM Application Manual
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
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5 Applied Instructions and Basic Usage
4. Example
Purposes:
 After the first single-speed motion is complete, the second single-speed motion will be executed.
 The second single-speed motion is executed before the execution of the first single-speed motion
is complete.
The motion control function block named FIRST is set so that the first axis moves at a speed of 2,000
pulses per second, and moves for 10,000 pulses. The motion control function block named SECOND
is set so that the first axis moves at a speed of 3,000 pulses per second, and moves for 15,000
pulses.
 After the first single-speed motion is complete, the second single-speed motion will be executed.
Steps:
(a) Set Execute1 to True.
(b) Wait for a transition in Done2’s signal from low to high or a transition in Error2’s signal from low
to high.
 The second single-speed motion is executed before the execution of the first single-speed motion
is complete.
Steps:
(a) Set Execute1 to True.
(b) Set Test to ON when Busy1 is set to true.
(c) Wait for a transition in Done2’s signal from low to high or a transition in Error2’s signal from low
to high.
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DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Timing diagram:
The second motion
follows the first motion.
First
The second motion can
not interrupt the first motion.
Execute1
Busy1
Done1
Second
Test
Execute2
Busy2
Done2
Error2
Motion
Velocity
Position
 After the first single-speed motion is complete, the second single-speed motion will be executed.
When the motion control function block named FIRST is executed, the first axis moves for 10,000
pulses. After the execution of the motion control function block named FIRST is complete, the
motion control function block named SECOND will be executed. When the motion control function
block named SECOND is executed, the first axis moves for 15,000 pulses.
 The second single-speed motion is executed before the execution of the first single-speed motion
is complete.
When Error2 is set to True, the first axis moves for 10,000 pulses. The motion control function
block named SECOND is invalid.
5. Module which is supported
The motion control function block T_RelSeg1 supports DVP10PM00M.
DVP-10PM Application Manual
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5 Applied Instructions and Basic Usage
5.10.3 Absolute Two-speed Motion
1. Motion control function block
The motion control function block T_AbsSeg2 is used to start absolute two-speed motion. After
absolute two-speed motion is started, the speed of the absolute two-speed motion will increase from
the VBIAS set to the V (I) set. The speed of the absolute two-speed motion will not increase/decrease
from the V (I) set to the V (II) set until the present command position of the axis specified is near the P
(I) set. The speed of the absolute two-speed motion will not decrease from the V (II) set to the VBIAS
set until the present command position of the axis specified is near the P (II) set. The P (I) set must be
between the present command position of the axis specified and the P (II) set. Users can set the
Vbias input pin, the Vmax input pin, the Tacc input pin, and the Tdec input pin in the motion control
function block T_AxisSetting1. The number of pulses is a unit for the Position1 input pin/the Position2
input pin, and the number of pulses per second is a unit for the Velocity1 input pin/the Velocity2 input
pin. The users can change the unit used by means of the motion control function block
T_AxisSetting2.
Speed
T ACC
T DEC
V1
V MAX
V2
V BIAS
Position
Positon 1
Execute
Positon 2
2. Input pins/Output pins
Input pin
Data
type
Setting value
Time when a value is valid
Motion axis
number
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
Execute
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
BOOL
True/False
-
Position1
Absolute
position of the
first motion
DWORD
K-2,147,483,648~
K2,147,483,647
Name
Axis
5-160
Function
The value of the Position1 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Input pin
Name
Function
Velocity1
Target speed of
the first motion
Position2
Absolute
position of the
second motion
Velocity2
Target speed of
the second
motion
Name
Done
Busy
Function
The execution
of the motion
control function
block is
complete.
The motion
control function
block is being
executed.
Data
type
Setting value
Time when a value is valid
DWORD
K1~K2,147,483,647
The value of the Velocity1 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
K-2,147,483,648~
K2,147,483,647
(If the value of the
Position1 input pin is
greater than 0, the
value of the Position2
input pin must be
greater than or equal
to the value of the
Position1 input pin. If
the value of the
Position1 input pin is
less than or equal to
0, the value of the
Position2 input pin
must be less than or
equal to the value of
the Position1 input
pin.)
The value of the Position2 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
K1~K2,147,483,647
The value of the Velocity2 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
Data
type
BOOL
BOOL
Output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal when
motion is
complete.
 There is a transition in the Done
 There is a

transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low



DVP-10PM Application Manual
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when motion is complete, the
Done output pin will be set to False
in the next cycle.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low to
high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
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5 Applied Instructions and Basic Usage
Name
Aborted
Function
The execution
of the motion
control function
block is
interrupted by a
command.
Data
type
BOOL
Output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 The execution of
the motion control
function block is
interrupted by a
command.
 Input values are
Error
An error occurs
in the motion
control function
block.
incorrect.
 The axis specified
BOOL
is in motion before
the motion control
function block is
executed.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
 If the Execute input pin is set to
False when the execution of the
motion control function block is
interrupted, the Aborted output pin
will be set to False in the next cycle.
 There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
The number of pulses is a unit for the Position1 input pin/the Position2 input pin, and the number of
pulses per second is a unit for the Velocity1 input pin/the Velocity2 input pin. Users can change the
unit used by means of the motion control function block T_AxisSetting2.
3. Troubleshooting
Error
The values of input pins in the motion control
function block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
4. Example
Purposes:
 The motion control function block T_AbsSeg2 is used to start absolute two-speed motion of an
axis.
The first motion is set so that the first axis moves at a speed of 2,000 pulses per second, and moves
for 10,000 pulses. The second motion is set so that the first axis moves at a speed of 3,000 pulses per
second, and moves for 15,000 pulses.
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5
Applied Instructions and Basic Usage
Execute
Busy
Done
Motion
Velocity
Position
After the motion control function block is started, the first axis moves for 10,000 pulses at a speed of
2,000 pulses per second, and moves for 15,000 pulses at a speed of 3,000 pulses per second.
5. Module which is supported
The motion control function block T_AbsSeg2 supports DVP10PM00M.
5.10.4 Relative Two-speed Motion
1. Motion control function block
The motion control function block T_RelSeg2 is used to start relative two-speed motion. After relative
two-speed motion is started, the speed of the relative two-speed motion will increase from the VBIAS
set to the V (I) set. The speed of the relative two-speed motion will not increase/decrease from the V (I)
set to the V (II) set until the number of pulses output is near the value of the Distance1 input pin. The
speed of the relative two-speed motion will not decrease from the V (II) set to the VBIAS set until the
number of pulses output is near the value of the Distance2 input pin. Users can set the Vbias input pin,
the Vmax input pin, the Tacc input pin, and the Tdec input pin in the motion control function block
T_AxisSetting1. The number of pulses is a unit for the Distance1 input pin/the Distance2 input pin, and
the number of pulses per second is a unit for the Velocity1 input pin/the Velocity2 input pin. Users can
change the unit used by means of the motion control function block T_AxisSetting2.
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5 Applied Instructions and Basic Usage
Speed
T ACC
T DEC
V1
V MAX
V2
V BIAS
Distance 1
Execute
Position
Distance 2
2. Input pins/Output pins
Input pin
Name
Axis
Execute
Distance1
Velocity1
5-164
Function
Motion axis
number
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
Relative
distance for
which the first
motion moves
Target speed of
the first motion
Distance2
Relative
distance for
which the
second motion
moves
Velocity2
Target speed of
the second
motion
Data
type
Setting value
Time when a value is valid
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
BOOL
True/False
-
DWORD
K-2,147,483,648~
K2,147,483,647
DWORD
K1~K2,147,483,647
DWORD
K-2,147,483,648~
K2,147,483,647
(If the value of the
Distance1 input pin is
a positive value, the
value of the
Distance2 input pin
must be a positive
value. If the value of
the Distance1 input
pin is a negative
value, the value of
the Distance2 input
pin must be a
negative value.)
The value of the Distance2 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
K1~K2,147,483,647
The value of the Velocity2 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
The value of the Distance1 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
The value of the Velocity1 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DVP-10PM Application Manual
5
Name
Done
Busy
Function
The execution
of the motion
control function
block is
complete.
The motion
control function
block is being
executed.
Data
type
BOOL
BOOL
Applied Instructions and Basic Usage
Output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal when
motion is
complete.
 There is a transition in the Done
 There is a

transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low



 The execution of
Aborted
The execution
of the motion
control function
block is
interrupted by a
command.
BOOL

 Input values are
Error
An error occurs
in the motion
control function
block.
BOOL

the motion control
function block is
interrupted by a
command.
incorrect.
 The axis specified
is in motion before
the motion control
function block is
executed.

output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when motion is complete, the
Done output pin will be set to False
in the next cycle.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low to
high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when the execution of the
motion control function block is
interrupted, the Aborted output pin
will be set to False in the next cycle.
There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
The number of pulses is a unit for the Distance1 input pin/the Distance2 input pin, and the number of
pulses per second is a unit for the Velocity1 input pin/the Velocity2 input pin. Users can change the
unit used by means of the motion control function block T_AxisSetting2.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
DVP-10PM Application Manual
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
5-165
5 Applied Instructions and Basic Usage
4. Example
Purpose:
 The motion control function block T_AbsSeg2 is used to start relative two-speed motion of an axis.
The first motion is set so that the first axis moves at a speed of 2,000 pulses per second, and moves
for 10,000 pulses. The second motion is set so that the first axis moves at a speed of 3,000 pulses per
second, and moves for 15,000 pulses.
Execute
Busy
Done
Motion
Velocity
Position
After the motion control function block is started, the first axis moves for 10,000 pulses at a speed of
2,000 pulses per second, and moves for 15,000 pulses at a speed of 3,000 pulses per second.
5. Module which is supported
The motion control function block T_RelSeg2 supports DVP10PM00M.
5.10.5 Inserting Single-speed Motion
1. Motion control function block
The motion control function block T_TrSeg1 is used to insert single-speed motion. The speed of
motion increases from the VBIAS set to the velocity set. After DOG’s signal goes from low to high or
from high to low, the DVP-10PM series motion controller used will continue sending pulses. The speed
of the motion will not decrease from the velocity set to the VBIAS set until the number of pulses output is
near the value of the Distance input pin. Users can set the Vbias input pin, the Vmax input pin, the
Tacc input pin, and the Tdec input pin in the motion control function block T_AxisSetting1. The number
of pulses is a unit for the Distance input pin, and the number of pulses per second is a unit for the
5-166
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Velocity input pin. The users can change the unit used by means of the motion control function block
T_AxisSetting2. If the value of the DogEdge input pin is mcRising, motion will be triggered by a
transition in DOG’s signal from low to high. If the value of the DogEdge input pin is mcFalling, motion
will be triggered by a transition in DOG’s signal from high to low.
Speed
T DE C
T ACC
V MAX
Velocity
Distance
V BIAS
Execute
DOG
Position
Target Distance
2. Input pins/Output pins
Input pin
Name
Axis
Execute
DogEdge
Distance
Velocity
Function
Motion axis
number
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
Transition in
DOG’s signal
from low to
high or from
high to low
Distance for
which motion
moves after a
transition in
DOG’s signal
from low to
high or from
high to low
Target speed
DVP-10PM Application Manual
Data
type
Setting value
Time when a value is valid
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
BOOL
True/False
-
BOOL
mcRising (True)/
mcFalling (False)
The value of the DogEdge input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
K-2,147,483,648~
K2,147,483,647
The value of the Distance input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
K1~K2,147,483,647
The value of the Velocity input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
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5 Applied Instructions and Basic Usage
Name
Done
Busy
Function
The execution
of the motion
control function
block is
complete.
The motion
control function
block is being
executed.
Data
type
BOOL
BOOL
Output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal when
motion is
complete.
 There is a transition in the Done
 There is a

transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low



 The execution of
Aborted
The execution
of the motion
control function
block is
interrupted by a
command.
BOOL

 Input values are
Error
An error occurs
in the motion
control function
block.
BOOL

the motion control
function block is
interrupted by a
command.
incorrect.
 The axis specified
is in motion before
the motion control
function block is
executed.

output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when motion is complete, the
Done output pin will be set to False
in the next cycle.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low to
high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when the execution of the
motion control function block is
interrupted, the Aborted output pin
will be set to False in the next cycle.
There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
The number of pulses is a unit for the Distance input pin, and the number of pulses per second is a
unit for the Velocity input pin. Users can change the unit used by means of the motion control function
block T_AxisSetting2. If the value of the DogEdge input pin is mcRising, motion will be triggered by a
transition in DOG’s signal from low to high. If the value of the DogEdge input pin is mcFalling, motion
will be triggered by a transition in DOG’s signal from high to low.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
5-168
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
4. Examples
Example 1:
 The motion control function block T_TrSeg1 is used to insert single-speed motion which is
triggered by a transition in DOG’s signal from high to low.
The motion control function block named T_TrSeg1_U1 is set so that the first axis moves at a speed
of 3,000 pulses per second, and will move for 5,000 pulses after a transition in DOG’s signal from high
to low. After the first axis moves for 5,000 pulses, Done will be set to True.
Execute
Busy
Done
Motion
Velocity
Position
(F alling Edge Trigger)
Dog
Example2:
 The motion control function block T_TrSeg1 is used to insert single-speed motion which is
triggered by a transition in DOG’s signal from low to high.
The motion control function block named T_TrSeg1_U1 is set so that the first axis moves at a speed
of 3,000 pulses per second, and will move for 5,000 pulses after a transition in DOG’s signal from low
to high. After the first axis moves for 5,000 pulses, Done will be set to True.
DVP-10PM Application Manual
5-169
5 Applied Instructions and Basic Usage
Execute
Busy
Done
Motion
Velocity
Position
(Falling Edge Trigger)
Dog
5. Module which is supported
The motion control function block T_TrSeg1 supports DVP10PM00M.
5.10.6 Inserting Two-speed Motion
1. Motion control function block
The motion control function block T_TrSeg2 is used to insert two-speed motion. The speed of motion
increases from the VBIAS set to the V (I) set. After DOG’s signal goes from low to high or from high to
low, the speed of the motion will increase/decrease from the V (I) set to the V (II) set. The motion will
not stop until the number of pulses output is near the value of the Distance input pin. Users can set
the Vbias input pin, the Vmax input pin, the Tacc input pin, and the Tdec input pin in the motion control
function block T_AxisSetting1. The number of pulses is a unit for the Distance input pin, and the
number of pulses per second is a unit for the Velocity1 input pin/the Velocity2 input pin. The users can
change the unit used by means of the motion control function block T_AxisSetting2. If the value of the
DogEdge input pin is mcRising, motion will be triggered by a transition in DOG’s signal from low to
high. If the value of the DogEdge input pin is mcFalling, motion will be triggered by a transition in
DOG’s signal from high to low.
5-170
DVP-10PM Application Manual
5
Speed
Applied Instructions and Basic Usage
T ACC
T DEC
V1
V MAX
V2
V BIAS
Execute
Position
Target Distance
DOG
2. Input pins/Output pins
Input pin
Name
Axis
Execute
DogEdge
Velocity1
Distance
Velocity2
Function
Motion axis
number
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
Transition in
DOG’s signal
from low to high
or from high to
low
Target speed
before a
transition in
DOG’s signal
from low to high
or from high to
low
Distance for
which motion
moves after a
transition in
DOG’s signal
from low to high
or from high to
low
Target speed
after a
transition in
DOG’s signal
from low to high
or from high to
low
DVP-10PM Application Manual
Data
type
Setting value
Time when a value is valid
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
BOOL
True/False
-
BOOL
mcRising (True)/
mcFalling (False)
The value of the DogEdge input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
K1~K2,147,483,647
The value of the Velocity1 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
K-2,147,483,648~
K2,147,483,647
The value of the Distance input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
K1~K2,147,483,647
The value of the Velocity2 input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
5-171
5 Applied Instructions and Basic Usage
Name
Done
Busy
Function
The execution
of the motion
control function
block is
complete.
The motion
control function
block is being
executed.
Data
type
BOOL
BOOL
Output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal when
motion is
complete.
 There is a transition in the Done
 There is a

transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low



 The execution of
Aborted
The execution
of the motion
control function
block is
interrupted by a
command.
BOOL

 Input values are
Error
An error occurs
in the motion
control function
block.
BOOL

the motion control
function block is
interrupted by a
command.
incorrect.
 The axis specified
is in motion before
the motion control
function block is
executed.

output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when motion is complete, the
Done output pin will be set to False
in the next cycle.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low to
high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when the execution of the
motion control function block is
interrupted, the Aborted output pin
will be set to False in the next cycle.
There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
The number of pulses is a unit for the Distance input pin, and the number of pulses per second is a
unit for the Velocity1 input pin/the Velocity2 input pin. Users can change the unit used by means of the
motion control function block T_AxisSetting2. If the value of the DogEdge input pin is mcRising,
motion will be triggered by a transition in DOG’s signal from low to high. If the value of the DogEdge
input pin is mcFalling, motion will be triggered by a transition in DOG’s signal from high to low.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
5-172
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
4. Example
The motion control function block T_TrSeg2 is used to insert two-speed motion which is triggered by a
transition in DOG’s signal from low to high.
The motion control function block named T_TrSeg2_U1 is set so that the first axis moves at a speed
of 3,000 pulses per second, and will move for 2,000 pulses at a speed of 1,000 pulses per second
after a transition in DOG’s signal from low to high.
Execute
1
t
0
Busy
1
t
0
1
Done
Motion
0
t
3000
Velocity
1000
0
Position
t
2000
(Rising Edge Trigger)
t
Dog
t
After the first axis moves for 2,000 pulses, Done will be set to True.
5. Module which is supported
The motion control function block T_TrSeg2 supports DVP10PM00M.
5.10.7 JOG Motion
1. Motion control function block
The motion control function block T_Jog is used to start JOG motion. The value of the Axis input pin
indicates an axis number, and the value of the Velocity input pin indicates the speed of JOG motion. If
the PositiveEnable input pin is set to True, positive JOG motion will be started. If the NegativeEnable
input pin is set to True, negative JOG motion will be started. The number of pulses per second is a
unit for the Velocity input pin. Users can change the unit used by means of the motion control function
block T_AxisSetting2.
DVP-10PM Application Manual
5-173
5 Applied Instructions and Basic Usage
Velocity
V MAX
V JOG
V BIAS
Position
T DE C
T ACC
2. Input pins/Output pins
Input pin
Name
Function
Data
type
Setting value
Axis
Motion
axis
number
WORD
K1~K6
PositiveEnable
Enabling
positive
JOG
motion
BOOL
True/False
NegativeEnable
Enabling
negative
JOG
motion
BOOL
True/False
DWORD
K1~K2,147,483,647
Velocity
5-174
Target
speed
Time when a value is valid
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
 If the PositiveEnable input pin and the
NegativeEnable input pin are set to
True simultaneously, positive JOG
motion will be enabled, and the
NegativeEnable input pin will be reset
to False.
 If the PositiveEnable input pin is set to
True after the NegativeEnable input
pin is set to True, the NegativeEnable
input pin will be reset to False, the
negative JOG motion will stop, and
the positive JOG motion will be
enabled.
 If the PositiveEnable input pin and the
NegativeEnable input pin are set to
True simultaneously, positive JOG
motion will be enabled, and the
NegativeEnable input pin will be reset
to False.
 If the NegativeEnable input pin is set
to True after the PositiveEnable input
pin is set to True, the PositiveEnable
input pin will be reset to False, the
positive JOG motion will stop, and the
negative JOG motion will be enabled.
When the motion control function block
is executed, the value of the Velocity
input pin is updated repeatedly.
DVP-10PM Application Manual
5
Name
Busy
Aborted
Function
The motion
control function
block is being
executed.
The execution
of the motion
control function
block is
interrupted by a
command.
Data
type
BOOL
Applied Instructions and Basic Usage
Output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
PositiveEnable
input pin’s signal
from low to high or
when there is a
transition in the
NegativeEnable
input pin’s signal
from low to high.
 The execution of
the motion control
function block is
interrupted by a
command.
BOOL
 Input values are
Error
An error occurs
in the motion
control function
block.
BOOL
incorrect.
 The axis specified
is in motion before
the motion control
function block is
executed.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Busy
output pin’s signal from high to low
when motion stops.
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
 There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
PositiveEnable input pin’s signal
from high to low or when there is a
transition in the NegativeEnable
input pin’s signal from high to low.
 If the PositiveEnable input pin and
the NegativeEnable are set to False
when the execution of the motion
control function block is interrupted,
the Aborted output pin will be set to
False in the next cycle.
 There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
PositiveEnable input pin’s signal
from high to low or when there is a
transition in the NegativeEnable
input pin’s signal from high to low.
The number of pulses per second is a unit for the Velocity input pin. Users can change the unit used
by means of the motion control function block T_AxisSetting2.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
4. Example
The motion control function block T_Jog is used to start JOG motion. Positive JOG motion is enabled
by EnableP, and negative JOG motion is enabled by EnableN.
The first axis moves at a speed of 10,000 pulses per second. If EnableP is set to 1, the first axis will
move in the positive direction. If EnableN is set to 1, the first axis will move in the negative direction.
DVP-10PM Application Manual
5-175
5 Applied Instructions and Basic Usage
EnableP 1
t
0
EnableN 1
t
0
1
Busy
t
0
Motion
Velocity
10000
t
0
10000
When EnableP is set to 1, the first axis moves at a speed of 10,000 pulses per second in the positive
direction. When EnableN is set to 1, the first axis moves at a speed of 10,000 pulses per second in the
negative direction. When EnableP and EnableN are not set to 1, the first axis stops moving.
5. Module which is supported
The motion control function block T_Jog supports DVP10PM00M.
5.10.8 Manual Pulse Generator Mode
1. Motion control function block
The motion control function block T_MPG is used to enable a manual pulse generator mode. The
value of the Axis input pin indicates an axis number. The motion of the axis specified follows the
operation of a manual pulse generator. The relation between the position of the axis specified and the
input pulses generated by the manual pulse generator used is determined by the RatioNum input pin
and the RatioDen input pin. The speed at which the manual pulse generator used responds depends
on the value of the Tacc input pin and the value of the Tdec input pin. Users can set the Tacc input pin
and the Tdec input pin in the motion control function block T_AxisSetting1.
Serv o dri ve
A phase
B phas e
5-176
R atioN u m
RatioDen
= Fr equency of output pulses
F requenc y of input pulses X
FP
Serv o motor
RP
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
The input terminals which can be connected to a manual pulse generator are shown below.
X0
+24V
24G
X2
S/S
X4
X1
X6
X5
X3
X11+
X10+
X10-
X7
X12+
X11-
X13+
X12-
X13-
DVP-10PM
( AC Power IN, DC Signal IN )
Y0
Y1
C0
Y2
C1
Y3
C2
Y10+
C3
Y11+
Y10-
Y12+
Y11-
Y13+
Y12-
Y14+
Y13-
Y15+
Y14-
Y16+
Y15-
Y17+
Y16-
Y17-
The terminals in the red frame are for the first axis~the sixth axis.
2. Input pins/Output pins
Input pin
Name
Axis
Enable
Reset
RatioNum
RatioDen
Name
Valid
Function
Motion axis
number
Manual pulse
generator
mode
Resetting the
manual pulse
generator used
Numerator of
an electronic
gear ratio
Denominator of
an electronic
gear ratio
Function
The execution
of the motion
control function
block is
complete.
Data
type
Setting value
Time when a value is valid
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Enable
input pin’s signal from low to high.
BOOL
True/False
-
BOOL
True/False
DWORD
K0~K32,767
DWORD
K1~K32,767
Data
type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Valid output pin’s
signal from low to
high when there is
a transition in the
Enable input pin’s
signal from low to
high.
 The execution of
Busy
The motion
control function
block is being
executed.
DVP-10PM Application Manual
BOOL
The value of the Reset input pin is valid
when there is a transition in the Enable
input pin’s signal from low to high.
When the motion control function block
is executed, the value of the RatioNum
input pin is updated repeatedly.
When the motion control function block
is executed, the value of the RatioDen
input pin is updated repeatedly.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Valid



the motion control
function block is
interrupted by a
command.

output pin’s signal from high to low
when motion stops.
There is a transition in the Valid
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Valid
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
If the Enable input pin is set to False
when the execution of the motion
control function block is interrupted,
the Aborted output pin will be set to
False in the next cycle.
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5 Applied Instructions and Basic Usage
Name
Function
Aborted
The execution
of the motion
control function
block is
interrupted by a
command.
Data
type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 The execution of
the motion control
function block is
interrupted by a
command.
 Input values are
Error
An error occurs
in the motion
control function
block.
BOOL
incorrect.
 The axis specified
is in motion before
the motion control
function block is
executed.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
 There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
Value output pin
Name
InputPulses
InputFreq
Function
Number of
pulses
generated by
the manual
pulse
generator
used
Frequency of
pulses
generated by
the manual
pulses
generator
used
Data
type
Output range
Update
DWORD
K-2,147,483,648~
K2,147,483,647
When the motion control function block
is executed, the value of the
InputPulses output pin is updated
repeatedly.
DWORD
K0~K2,147,483,647
When the motion control function block
is executed, the value of the InputFreq
output pin is updated repeatedly.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
4. Module which is supported
The motion control function block T_MPG supports DVP10PM00M.
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5
Applied Instructions and Basic Usage
5.10.9 Electronic Gear Motion
1. Motion control function block
The value of the RatioNum input pin is the numerator of an electronic gear ratio. The value of the
RatioDen input pin is the denominator of an electronic gear ration. The Reset input pin is used to clear
the number of input pulses. The speed at which the electronic gear used responds does not depend
on the value of the Tacc input pin and the value of the Tdec input pin. The electronic gear used
operates in accordance with the source of input. The input terminals for electronic gear motion are the
same as the input terminals which can be connected to a manual pulse generator.
2. Input pins/Output pins
Input pin
Name
Axis
Enable
Reset
RatioNum
RatioDen
Name
Valid
Function
Slave axis
number
Enabling
electronic gear
motion
Resetting the
InputPulses
output pin
Numerator of an
electronic gear
ratio
Denominator of
an electronic
gear ratio
Function
An output value
is valid.
DVP-10PM Application Manual
Data
type
Setting value
Time when a value is valid
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Enable
input pin’s signal from low to high.
BOOL
True/False
-
BOOL
True/False
DWORD
K-32,767~K32,767
DWORD
K1~K32,767
Data
type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Valid output pin’s
signal from low to
high when there is
a transition in the
Enable input pin’s
signal from low to
high.
The value of the Reset input pin is valid
when there is a transition in the Enable
input pin’s signal from low to high.
When the motion control function block
is executed, the value of the RatioNum
input pin is updated repeatedly.
When the motion control function block
is executed, the value of the RatioDen
input pin is updated repeatedly.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Valid
output pin’s signal from high to low
when motion stops.
 There is a transition in the Valid
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
 There is a transition in the Valid
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
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5 Applied Instructions and Basic Usage
Name
Busy
Aborted
Function
The motion
control function
block is being
executed.
The execution of
the motion
control function
block is
interrupted by a
command.
Data
type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 The execution of
the motion control
function block is
interrupted by a
command.
 The execution of
BOOL
the motion control
function block is
interrupted by a
command.
 Input values are
Error
An error occurs
in the motion
control function
block.
BOOL
incorrect.
 The axis specified
is in motion before
the motion control
function block is
executed.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
 If the Enable input pin is set to False
when the execution of the motion
control function block is interrupted,
the Aborted output pin will be set to
False in the next cycle.
 There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
 There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
Value output pin
Data
type
Output range
InputPulses
Number of
input pulses
DWORD
K-2,147,483,648~
K2,147,483,647
InputFreq
Frequency of
input pulses
DWORD
K0~K2,147,483,647
Name
Function
Update
When the motion control function block
is executed, the value of the
InputPulses output pin is updated
repeatedly.
When the motion control function block
is executed, the value of the InputFreq
output pin is updated repeatedly.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
4. Module which is supported
The motion control function block T_GearIn supports DVP10PM00M.
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5
Applied Instructions and Basic Usage
5.10.10 Returning Home
1. Motion control function block
The motion control function block T-HomeReturn is used to start motion of returning home. The value
of the Axis input pin indicates an axis number, and the value of the Direction input pin indicates
whether the axis specified returns home in the positive direction or in the negative direction. The value
of the VRT input pin indicates the speed at which the axis specified returns home. The value of the
DogEdge input pin indicates whether motion is triggered by a transition in DOG’s signal from low to
high or from high to low. The value of the VCR input pin indicates the speed to which the speed of the
axis specified decreases. The value of the Signal_N input pin is the number of zero pulses. The value
of the Distance_P is the number of supplementary pulses needed. After motion of returning home is
complete, the value of the HomePosition input pin will be taken as the present position of the axis
specified. Motion of returning home is shown below.
Direction in which the axis
specified returns home
D OG
Limit s witc h
Limit s witc h
L SP
L SN
[2 ]
[1 ]
Home
Position (1): Position [1] is at the right side of the home and DOG, and DOG is OFF.
Position (2)*: Position [2] is at the right side of the home, and DOG is ON.
*: Position (2) does not support the fifth axis and the sixth axis.
2. Input pins/Output pins
Input pin
Name
Axis
Execute
Data
type
Setting value
Time when a value is valid
Motion axis
number
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
Motion is
started when
there is a
transition in
the Execute
input pin’s
signal from
low to high.
BOOL
True/False
-
Function
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5 Applied Instructions and Basic Usage
Input pin
Name
Function
Direction in
which the
axis
specified
returns
home
Transition in
DOG’s
signal from
low to high
or from high
to low
Direction
DogEdge
HomePosition
VRT
VCR
Speed at
which the
axis
specified
returns
home
Speed to
which the
speed of the
axis
specified
decreases
Setting value
BOOL
mcNegative (False)/
mcPositive (True)
The value of the Direction input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
BOOL
mcFalling (False)/
mcRising (True)
The value of the DogEdge input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
K-2,147,483,648~
K2,147,483,647
The value of the HomePosition input pin
is valid when there is a transition in the
Execute input pin’s signal from low to
high.
DWORD
K1~K1000000
The value of the VRT input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
DWORD
K1~VRT
The value of the VCR input pin is valid
when there is a transition in the Execute
input pin’s signal form low to high.
Signal_N
Number of
zero pulses
WORD
K0~K32,767
Distance_P
Number of
supplementa
ry pulses
WORD
K-32768~K32,767
Name
Done
5-182
Home
position
Data
type
Function
The execution
of the motion
control function
block is
complete.
Data
type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal from low to
high when motion
of returning home
is complete.
Time when a value is valid
The value of the Signal_N input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
The value of the Distance_P input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Done
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
 If the Execute input pin is set to
False when the execution of the
motion control function block is
complete, the Done output pin will be
set to False in the next cycle.
DVP-10PM Application Manual
5
Name
Busy
Function
The motion
control function
block is being
executed.
Data
type
BOOL
Applied Instructions and Basic Usage
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Busy


 The execution of
Aborted
The execution
of the motion
control function
block is
interrupted by a
command.
BOOL

 Input values are
Error
An error occurs
in the motion
control function
block.
BOOL

the motion control
function block is
interrupted by a
command.
incorrect.
 The axis specified
is in motion before
the motion control
function block is
executed.

output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low to
high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
There is a transition in the Aborted
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when the execution of the
motion control function block is
interrupted, the Aborted output pin
will be set to False in the next cycle.
There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
4. Module which is supported
The motion control function block T-HomeReturn supports DVP10PM00M.
5.10.11 Stopping Uniaxial Motion
1. Motion control function block
The motion control function block T_AxisStop is used to stop the motion of the axis specified. The
value of the Axis input pin indicates an axis number.
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5 Applied Instructions and Basic Usage
2. Input pins/Output pins
Input pin
Data
type
Setting value
Time when a value is valid
Motion axis
number
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
BOOL
True/False
-
Name
Axis
Execute
Function
Name
Done
Busy
Function
The execution
of the motion
control function
block is
complete.
The motion
control function
block is being
executed.
Data
type
BOOL
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal from low to
high when motion
of returning home
is complete.
 There is a transition in the Done
 There is a

transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low



output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
If the Execute input pin is set to
False when the execution of the
motion control function block is
complete, the Done output pin will be
set to False in the next cycle.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low to
high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
 Input values are
Error
An error occurs
in the motion
control function
block.
BOOL
incorrect.
 The motion of the
axis specified is
not uniaxial
motion, gear
motion, or cam
motion.
 There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
5-184
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Error
The motion control function block conflicts with other
motion control function blocks.
Troubleshooting
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
4. Example
The single-speed motion of an axis is started, and then the motion control function block T_AxisStop is
used to stop the motion.
The motion control function block named First is used to start single-speed motion. It is set so that the
first axis moves for 50,000 pulses at a speed of 10,000 per second. The motion control function block
named Second is used to stop the motion of the first axis.
The motion control function block named First is started. Before Done 1 is set to True, Execute2 is
used to start the motion control function block named Second.
After the motion control function block named First is started, the first axis will move at a speed of
10,000 pulses per second. After the motion control function block named Second is started, Aborted1
will be set to True, Busy1 will be set to False, and the first axis will stop moving. When the motion
control function block named Second is used to stop the motion of the first axis, no motion can be
started. If any motion is started, an error will occur.
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5 Applied Instructions and Basic Usage
5. Module which is supported
The motion control function block T_AxisStop supports DVP10PM00M.
5.10.12 Parameter Setting I
1. Motion control function block
The motion control function block T_AxisSetting1 is used to set motion parameters. The value of the
Axis input pin indicates an axis number. Users can set the maximum speed of the axis specified, the
start-up speed of the axis specified, the time it takes for the start-up speed of the axis specified to
increase to its maximum speed, and the time it takes for the maximum speed of the axis specified to
decrease to its start-up speed. The setting of the Unit input pin in the motion control function block
T_AxisSetting2 determines the unit for the Vmax input pin and the unit for the Vbias input pin.
2. Input pins/Output pins
Input pin
Name
Axis
Execute
5-186
Data
type
Setting value
Time when a value is valid
Motion axis
number
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
BOOL
True/False
-
Function
Vmax
Maximum
speed
DWORD
K1~K2,147,483,647
Vbias
Start-up speed
DWORD
K0~K2,147,483,647
Tacc
Acceleration
time (Unit: ms)
WORD
K0~K32,767
Tdec
Deceleration
time (Unit: ms)
WORD
K0~K32,767
The value of the Vmax input pin is valid
when there is a transition in the Execute
input pin’s signal from low tot high.
The value of the Vbias input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
The value of the Tacc input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
The value of the Tdec input pin is valid
when there is a transition in the Execute
input pin’s signal from low to high.
DVP-10PM Application Manual
5
Name
Done
Function
The execution
of the motion
control function
block is
complete.
Data
type
BOOL
Applied Instructions and Basic Usage
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal from low to
high when motion
of returning home
is complete.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Done
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
 If the Execute input pin is set to
False when the execution of the
motion control function block is
complete, the Done output pin will be
set to False in the next cycle.。
 There is a
Busy
The motion
control function
block is being
executed.
Error
An error occurs
in the motion
control function
block.
BOOL
transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
 Input values are
incorrect.
BOOL
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low to
high.
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from low
to high.
 There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from high
to low.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Module which is supported
The motion control function block T_AxisSetting1 supports DVP10PM00M.
5.10.13 Parameter Setting II
1. Motion control function block
The motion control function block T_AxisSetting2 is used to set motion parameters. The value of the
Axis input pin indicates an axis number. Users can set the velocity curve of the axis specified, an
output type, and a unit. The setting of a unit requires the number of pulses it takes for a motor to rotate
once and the distance for which the axis specified moves when the motor rotates once.
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5 Applied Instructions and Basic Usage
There are three types of units. They are motor units, compound units, and mechanical units. The
setting of a unit requires the number of pulses it takes for a motor to rotate once (the value of the
PulseRev input pin) and the distance for which the axis specified moves when the motor rotates once
(the value of the DistanceRev input pin). The units for positions and speeds are as shown below.
Motor unit
pulse
Position
pulse
pulse
pulse/second
Speed pulse/second
pulse/second
Compound unit Mechanical unit
µm
µm
mdeg
mdeg
10-4 inches
10-4 inches
centimeter/minute
pulse/second
10 degrees/minute pulse/second
inch/minute
pulse/second
2. Input pins/Output pins
Input pin
Name
Axis
Execute
Vcure
OutputType
Unit
PulseRev
DistanceRev
5-188
Function
Data
type
Setting value
Time when a value is valid
Motion axis
number
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the
Execute input pin’s signal from low to
high.
Motion is
started when
there is a
transition in
the Execute
input pin’s
signal from low
to high.
BOOL
True/False
-
BOOL
mcTrapezoid: False
mcSCurve: True
The value of the Vcurve input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
WORD
mcUD: 0
mcPD: 1
mcAB: 2
mc4AB: 3
The value of the OutputType input pin
is valid when there is a transition in
the Execute input pin’s signal from
low to high.
WORD
mcMotor: 0
mcMachine: 1
mcComp: 2
WORD
K1~K2,147,483,647
The value of the Unit input pin is valid
when there is a transition in the
Execute input pin’s signal from low to
high.
The value of the PulseRev input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
Velocity curve
Output type
Unit
Number of
pulses it takes
for a motor to
rotate once
Distance for
which the axis
specified
moves when
the motor used
rotates once
WORD
K1~K2,147,483,647
The value of the DistanceRev input
pin is valid when there is a transition
in the Execute input pin’s signal from
low to high.
DVP-10PM Application Manual
5
Name
Done
Function
The execution of
the motion
control function
block is
complete.
Data
type
BOOL
Applied Instructions and Basic Usage
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output pin’s
signal from low to
high when motion
of returning home
is complete.
 There is a
Busy
The motion
control function
block is being
executed.
BOOL
transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Done




Error
An error occurs in
the motion
control function
block.
 Input values are

incorrect.
BOOL
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from
high to low.
If the Execute input pin is set to
False when the execution of the
motion control function block is
complete, the Done output pin will
be set to False in the next cycle.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low
to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Error output pin’s signal from low
to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Aborted output pin’s signal from
low to high.
There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from
high to low.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Module which is supported
The motion control function block T_AxisSetting2 supports DVP10PM00M.
5.10.14 Reading the Present Position/Speed of an Axis
1. Motion control function block
The motion control function block T_MotionObserve is used to read the present position/speed of an
axis. The value of the Axis input pin indicates an axis number. After the motion control function block is
started, users can read the present position of the axis specified through the Position output pin, and
the speed of the axis specified through the Velocity output pin.
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5 Applied Instructions and Basic Usage
2. Input pins/Output pins
Input pin
Data
type
Setting value
Time when a value is valid
Motion axis
number
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the Enable
input pin’s signal from low to high.
Manual pulse
generator mode
BOOL
True/False
-
Name
Axis
Enable
Function
Name
Valid
Data
type
Function
The execution of
the motion
control function
block is
complete.
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Valid output pin’s
signal from low to
high when there is
a transition in the
Enable input pin’s
signal from low to
high.
 There is a
Busy
Error
The motion
control function
block is being
executed.
An error occurs
in the motion
control function
block.
BOOL
incorrect.
BOOL
 There is a transition in the Valid


transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Enable input pin’s
signal from low to
high.
 Input values are
Time when there is a transition in an
output pin’s signal from high to low


output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
There is a transition in the Valid
output pin’s signal from high to low
when there is a transition in the Error
input pin’s signal from low to high.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the Error
output pin’s signal from low to high.
There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
Value output pin
Name
Position
Velocity
Function
Present
position
(Pulse unit)
Present
speed (Pulse
unit)
Data
type
Output range
DWORD
K-2,147,483,648~
K2,147,483,647
DWORD
K0~K2,147,483,647
Update
When the motion control function block is
executed, the value of the Position output
pin is updated repeatedly.
When the motion control function block is
executed, the value of the Velocity output
pin is updated repeatedly.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Module which is supported
The motion control function block T_MotionObserve supports DVP10PM00M.
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5
Applied Instructions and Basic Usage
5.10.15 State of an Axis
1. Motion control function block
The motion control function block is T_AxisStatus is used to read and clear the present erroneous
state of an axis. The value of the Axis input pin indicates an axis number. Users can clear the present
erroneous state of the axis specified by means of the ClearError input pin. The value of the
AxisErrorID output pin indicates the present erroneous state of the axis specified.
2. Input pins/Output pins
Input pin
Name
Axis
Enable
ClearError
Name
Valid
Function
Motion axis
number
Reading the
present
erroneous state
of the axis
specified.
The erroneous
state of the axis
specified is
cleared when
there is a
transition in the
ClearError input
pin’s signal from
low to high.
Function
An output value
is valid.
DVP-10PM Application Manual
Data
type
Setting value
Time when a value is valid
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the
Enable input pin’s signal from low to
high.
BOOL
True/False
-
BOOL
True/False
Data
type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Valid output pin’s
signal from low to
high when there is
a transition in the
Enable input pin’s
signal from low to
high.
The value of the ClearError input pin
is valid when the motion control
function block is executed.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Valid
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high
to low.
 There is a transition in the Valid
output pin’s signal from high to low
when there is a transition in the
Error output pin’s signal from low
to high.
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5 Applied Instructions and Basic Usage
Name
Function
Data
type
Busy
The motion
control function
block is being
executed.
Error
An error occurs in
the motion
control function
block.
BOOL
Function
Data
type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Enable input pin’s
signal from low to
high.
 Input values are
incorrect.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high
to low.
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Error output pin’s signal from low
to high.
 There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high
to low.
Value output pin
Name
Mode
AxisReady
AxisError
AxisErrorID
Output range
Mode of motion
WORD
H0~H32x (*1)
Ready flag for the
axis specified
BOOL
True/False
Axis error flag
BOOL
True/False
Error code
WORD
H0002~HC4FF
Update
When the motion control function
block is executed, the value of the
Mode output pin is updated
repeatedly.
When the motion control function
block is executed, the value of the
AxisReady output pin is updated
repeatedly.
When the motion control function
block is executed, the value of the
AxisError output pin is updated
repeatedly.
When the motion control function
block is executed, the value of the
AxisErrorID output pin is updated
repeatedly.
*1: Value of the Mode output pin
Value
H0
H100
H101
H102
H103
H104
H105
H106
H107
H108
H109
H10A
H300
H31x
H32x
5-192
Definition
Idle
Uniaxial motion is being stopped.
Absolute single-speed motion
Relative single-speed motion
Absolute two-speed motion
Relative two-speed motion
Inserting single-speed motion
Inserting two-speed motion
JOG motion
Manual pulse generator mode
Motion of returning home
Electronic gear motion
Multiaxial interpolation is being stopped.
Multiaxial absolute linear interpolation
Multiaxial relative linear interpolation
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Please refer to appendix A in chapter 9 for more information about error codes.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Module which is supported
The motion control function block is T_AxisStatus supports DVP10PM00M.
5.10.16 Setting the Present Position of an Axis
1. Motion control function block
The motion control function block T_SetPosition is used to set the present position of an axis. The
value of the Axis input pin indicates an axis number. Users can set the present position of the axis
specified by means of the Position input pin. Note: To prevent errors from occurring, please avoid
using the motion control function block to set the present position of the master axis involved in cam
motion or gear motion.
2. Input pins/Output pins
Input pin
Name
Function
Data
type
Setting value
Time when a value is valid
Motion axis
number
WORD
K1~K6
The value of the Axis input pin is valid
when there is a transition in the
Execute input pin’s signal from low to
high.
Execute
Motion is started
when there is a
transition in the
Execute input
pin’s signal from
low to high.
BOOL
True/False
-
Position
Present position
of the axis
specified
DWORD
K-2,147,483,648~
K2,147,483,647
The value of the Position input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
Axis
Name
Function
Done
The execution of
the motion
control function
block is
complete.
DVP-10PM Application Manual
Data
type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 The writing of a
position is
complete.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Done
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from
high to low.
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5 Applied Instructions and Basic Usage
Name
Function
Busy
The motion
control function
block is being
executed.
Error
An error occurs in
the motion
control function
block.
Data
type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Execute input
pin’s signal from
low to high.
 Input values are
incorrect.
BOOL
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Done output pin’s signal from low
to high.
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Error output pin’s signal from low
to high.
 There is a transition in the Error
output pin’s signal from high to low
when there is a transition in the
Execute input pin’s signal from
high to low.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Module which is supported
The motion control function block T_SetPosition supports DVP10PM00M.
5.10.17 Setting the Polarities of Input Terminals
1. Motion control function block
The motion control function block T_InputPolarity is used to set the polarities of the input terminals on
the DVP-10PM series motion controller used. Users can set the polarities of the input terminals on the
DVP-10PM series motion controller used by means of input pins.
2. Input pins/Output pins
Input pin
Name
Enable
5-194
Function
Manual pulse
generator
mode
Data
type
Setting value
Time when a value is valid
BOOL
True/False
-
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Input pin
Name
Function
X0_Dog0
X1_Pg0
X2_Dog1
X3_Pg1
X4_Dog2
X5_Pg2
X6_Dog3
X7_Pg3
X10_mpgA
X11_mpgB
X12_Dog4
X13_Dog5
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Name
Valid
Function
The execution
of the motion
control function
block is
complete.
Data
type
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
Data
type
BOOL
Busy
The motion
control function
block is being
executed.
BOOL
Dog0_X0
Pg0_ X1
Dog1_X2
Pg1_X3
Dog2_X4
Pg2_X5
Dog3_X6
Pg3_X7
mpgA_X10
mpgB_X11
Dog4_X12
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
Polarity
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
BOOL
Dog5_X13
Polarity
BOOL
DVP-10PM Application Manual
Setting value
Time when a value is valid
mcNO: False
mcNC: True
When the motion control function block
is executed, the values of the input pins
are updated repeatedly.
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Valid output pin’s
signal from low to
high when there is
a transition in the
Enable input pin’s
signal from low to
high.
 There is a
transition in the
Busy output pin’s
signal from low to
high when there is
a transition in the
Enable input pin’s
signal from low to
high.
 When input pins
are set to True,
and the input
terminals are OFF,
there are
transitions in
these output pins’
signals from low to
high.
 When input pins
are set to False,
and the input
terminals are ON,
there are
transitions in
these output pins’
signals from low to
high.
Time when there is a transition in an
output pin’s signal from high to low
 There is a transition in the Valid
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
 There is a transition in the Busy
output pin’s signal from high to low
when there is a transition in the
Enable input pin’s signal from high to
low.
 When input pins are set to True, and
the input terminals are ON, there are
transitions in these output pins’
signals from high to low.
 When input pins are set to False,
and the input terminals are OFF,
there are transitions in these output
pins’ signals from high to low.
 There are transitions in these output
pins’ signals from high to low when
there is a transition in the Enable
input pin’s signal from high to low.
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5 Applied Instructions and Basic Usage
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Module which is supported
The motion control function block T_InputPolarity supports DVP10PM00M.
5.11 Multiaxial Motion Control Function Blocks
5.11.1 Multiaxial Absolute Linear Interpolation
1. Motion control function block
The motion control function block T_AbsMoveLinear is used to start multiaxial absolute linear
interpolation. Users can set the axes which execute interpolation by means of the AxesGroup input pin,
set the target positions of the axes specified by means of the Position input pin, and set the speed of
the axes specified by means of the Velocity input pin.
2. Input pins/Output pins
Name
AxesGroup
Execute
5-196
Function
Axes which
execute
interpolation
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
Position
Target positions
Velocity
Speed of
interpolation
Data type
WORD[6]
Input pin
Setting value
[_,_,_,_,_,_]
0: Not setting axes
n: Adding the nth axis
(n is in the range of 1
to 6.)
(The first cell must be
set.)
Time when a value is valid
The value of the AxesGroup input pin
is valid when there is a transition in
the Execute input pin’s signal from
low to high.
BOOL
True/False
-
DWORD[6]
[_,_,_,_,_,_]
K-2,147,483,648~
K2,147,483,647
DWORD
K1~K2,147,483,647
The value of the Position input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
The value of the Velocity input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
DVP-10PM Application Manual
5
Name
Done
Function
The execution
of the motion
control function
block is
complete.
Busy
The motion
control function
block is being
executed.
Error
An error occurs
in the motion
control function
block.
Aborted
The execution
of the motion
control function
block is
interrupted by a
command.
Applied Instructions and Basic Usage
Data type
BOOL
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output
pin’s signal from
low to high when
the execution of
the motion
control function
block is
complete.
 There is a
transition in the
Busy output
pin’s signal from
low to high when
there is a
transition in the
Execute input
pin’s signal from
low to high.
Time when there is a transition in an
output pin’s signal from high to low

There is a transition in the Done
output pin’s signal from high to
low when there is a transition in
the Execute input pin’s signal
from high to low.

There is a transition in the Busy
output pin’s signal from high to
low when there is a transition in
the Error output pin’s signal from
low to high.
There is a transition in the Busy
output pin’s signal from high to
low when there is a transition in
the Done output pin’s signal from
low to high.
There is a transition in the Error
output pin’s signal from high to
low when there is a transition in
the Execute input pin’s signal
from high to low.
There is a transition in the
Aborted output pin’s signal from
high to low when there is a
transition in the Execute input
pin’s signal from high to low.


Input values are
incorrect.


The execution of
the motion
control function
block is
interrupted by a
command.

BOOL
BOOL
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
4. Module which is supported
The motion control function block T_AbsMoveLinear supports DVP10PM00M.
5.11.2 Multiaxial Relative Linear Interpolation
1. Motion control function block
The motion control function block T_RelMoveLinear is used to start multiaxial relative linear
interpolation. Users can set the axes which execute interpolation by means of the AxesGroup input pin,
set the distances for which the axes specified move by means of the Distance input pin, and set the
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5 Applied Instructions and Basic Usage
speed of the axes specified by means of the Velocity input pin.
2. Input pins/Output pins
Name
AxesGroup
Axes which
execute
interpolation
Execute
Motion is
started when
there is a
transition in the
Execute input
pin’s signal
from low to
high.
Distance
Distances for
which the axes
specified move
Velocity
Speed of
interpolation
Name
Done
5-198
Function
Function
The execution
of the motion
control function
block is
complete.
Busy
The motion
control function
block is being
executed.
Error
An error occurs
in the motion
control function
block.
Data type
WORD[6]
Input pin
Setting value
[_,_,_,_,_,_]
0: Not setting axes
n: Adding the nth axis
(n is in the range of 1
to 6.)
(The first cell must be
set.)
Time when a value is valid
The value of the AxesGroup input pin
is valid when there is a transition in
the Execute input pin’s signal from
low to high.
BOOL
True/False
-
DWORD[6]
[_,_,_,_,_,_]
K-2,147,483,648~
K2,147,483,647
DWORD
K1~K2,147,483,647
The value of the Distance input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
The value of the Velocity input pin is
valid when there is a transition in the
Execute input pin’s signal from low to
high.
Data type
BOOL
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output
pin’s signal from
low to high when
the execution of
the motion
control function
block is
complete.
 There is a
transition in the
Busy output
pin’s signal from
low to high when
there is a
transition in the
Execute input
pin’s signal from
low to high.

BOOL
Input values are
incorrect.
Time when there is a transition in an
output pin’s signal from high to low

There is a transition in the Done
output pin’s signal from high to
low when there is a transition in
the Execute input pin’s signal
from high to low.

There is a transition in the Busy
output pin’s signal from high to
low when there is a transition in
the Error output pin’s signal from
low to high.
There is a transition in the Busy
output pin’s signal from high to
low when there is a transition in
the Done output pin’s signal from
low to high.
There is a transition in the Error
output pin’s signal from high to
low when there is a transition in
the Execute input pin’s signal
from high to low.


DVP-10PM Application Manual
5
Name
Function
Aborted
The execution
of the motion
control function
block is
interrupted by a
command.
Applied Instructions and Basic Usage
Data type
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 The execution of
the motion
control function
block is
interrupted by a
command.
Time when there is a transition in an
output pin’s signal from high to low

There is a transition in the
Aborted output pin’s signal from
high to low when there is a
transition in the Execute input
pin’s signal from high to low.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The motion control function block conflicts with other
motion control function blocks.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Make sure that other uniaxial motion control function
blocks are not started or the execution of other
uniaxial motion control function blocks is complete
before the motion control function block is started.
4. Example
Purpose:
 The motion control function block T_AbsMoveLinear and the motion control function block
T_RelMoveLinear are used to start the absolute linear interpolation executed by the axes specified
and the relative linear interpolation executed by the axes specified.
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5 Applied Instructions and Basic Usage

Create the two identifiers Group1 and Group2 in the local symbol table in O100. Group1 is an
array composed of 6 words. Group2 is an array composed of 6 words.
 Create the two identifiers Position and Distance in the local symbol table in O100. Position is an
array composed of 6 double words. Distance is an array composed of 6 double words.
 When the program is executed, the array indicated by Group1 is set to [1, 2, 3, 0, 0, 0]. The first
axis, the second axis, and the third axis are used to execute linear interpolation.
 When the program is executed, the array indicated by Group2 is set to [4, 5, 6, 0, 0, 0]. The fourth
axis, the fifth axis, and the sixth axis are used to execute linear interpolation.
 When the program is executed, the array indicated by Position is set to [15000, 30000, -15000, 0,
0, 0]. [15000, 30000, -15000, 0, 0, 0] indicates the target positions of the absolute linear
interpolation executed by the first axis, the second axis, and the third axis.
 When the program is executed, the array indicated by Distance is set to [1000, 10000, -10000, 0, 0,
0]. [1000, 10000, -10000, 0, 0, 0] indicates the distances for which the fourth axis, the fifith axis,
and the sixth axis move when the fourth axis, the fifith axis, and the sixth axis execute relative
linear interpolation.
 After M1 is set to ON, the multiaxial absolute linear interpolation set will be started.
 After M10 is set to ON, the multiaxial absolute linear interpolation set will be started.
 Users can use the motion control function block T_MotionObserve to check whether the positions
of the axes which execute the linear interpolation set are correct.
5. Module which is supported
The motion control function block T_RelMoveLinear supports DVP10PM00M.
5.11.3 Stopping Multiaxial Linear Interpolation
1. Motion control function block
The motion control function block T_GroupStop is used to stop multiaxial linear interpolation. Users
can set the axes which execute interpolation by means of the AxesGroup input pin.
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5
Applied Instructions and Basic Usage
2. Input pins/Output pins
Input pin
Name
Execute
AxesGroup
Function
Linear
interpolation is
stopped when
there is a
transition in the
Execute input
pin’s signal from
low to high.
Axes which
execute
interpolation
Name
Done
Function
The execution of
the motion
control function
block is
complete.
Busy
The motion
control function
block is being
executed.
Error
An error occurs in
the motion
control function
block.
Data
type
Setting value
Time when a value is valid
BOOL
True/False
-
WORD[6]
[_,_,_,_,_,_]
0: Not setting axes
n: Adding the nth axis
(n is in the range of 1
to 6.)
(The first cell must be
set.)
The value of the AxesGroup input pin
is valid when there is a transition in
the Execute input pin’s signal from
low to high.
Data
type
BOOL
BOOL
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Done output
pin’s signal from
low to high when
the execution of
the motion
control function
block is
complete.
 There is a
transition in the
Busy output
pin’s signal from
low to high when
there is a
transition in the
Execute input
pin’s signal from
low to high.

Input values are
incorrect.
BOOL
Time when there is a transition in an
output pin’s signal from high to low

There is a transition in the Done
output pin’s signal from high to
low when there is a transition in
the Execute input pin’s signal
from high to low.

There is a transition in the Busy
output pin’s signal from high to
low when there is a transition in
the Error output pin’s signal from
low to high.
There is a transition in the Busy
output pin’s signal from high to
low when there is a transition in
the Done output pin’s signal from
low to high.
There is a transition in the Error
output pin’s signal from high to
low when there is a transition in
the Execute input pin’s signal
from high to low.


3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Example
Purpose:
 The motion control function block T_AbsMoveLinear and the motion control function block
T_RelMoveLinear are used to start the absolute linear interpolation executed by the axes specified
DVP-10PM Application Manual
5-201
5 Applied Instructions and Basic Usage
and the relative linear interpolation executed by the axes specified.



5-202
Create the identifier Group1 in the local symbol table in O100. Group1 is an array composed of 6
words.
Create the identifier Position in the local symbol table in O100. Position is an array composed of 6
double words.
When the program is executed, the array indicated by Group1 is set to [1, 2, 3, 4, 5, 6]. The first
axis, the second axis, the third axis, the fourth axis, the fifth axis, and the sixth axis are used to
execute linear interpolation.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage

When the program is executed, the array indicated by Position is set to [15000, 30000, 1000,
10000, -10000, -15000]. [15000, 30000, 1000, 10000, -10000, -15000] indicates the target
positions of the absolute linear interpolation executed by the first axis, the second axis, the third
axis, the fourth axis, the fifth axis, and the sixth axis.
 After M1 is set to ON, the multiaxial absolute linear interpolation set will be started.
 Set M10 to ON when M1 is ON. When the multiaxial absolute linear interpolation set is stopped,
the Aborted output pin the the motion control function block T_AbsMoveLinear is True, and the
Done output pin in the motion control function block T_GroupStop is True.
5. Module which is supported
The motion control function block T_GroupStop supports DVP10PM00M.
5.12 Other Motion Control Function Blocks
5.12.1 High-speed Counter
1. Motion control function block
The motion control function block T_HCnt is used to start a high-speed counter. The value of the
Channel input pin indicates a counter number, and the value of the InputType input pin indicates an
input pulse type. The ExtRstEN input pin is used to set an external reset switch. The value of the
InitialValue input pin is the initial value in the counter specified, and the value of the CountValue output
pin is the value in the counter specified.
The input terminals for the high-speed counters in a DVP-10PM series motion controller are shown
below.
X0 and X1 are for high-speed counter 0; X2 and X3 are for high-speed counter 1; X4 and X5 are for
high-speed counter 2; X6 and X7 are for high-speed counter 3; X10+, X10-, X11+, and X11- are for
high-speed counter 4; X12+, X12-, X13+, and X13- are for high-speed counter 5.
2. Input pins/Output pins
Input pin
Name
Channel
Function
Counter number
DVP-10PM Application Manual
Data
type
WORD
Setting value
0~5 (*1)
Time when a value is valid
The value of the Channel input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
5-203
5 Applied Instructions and Basic Usage
Input pin
Name
Function
Data
type
Enable
The motion
control function
block is enabled
when there is a
transition in the
Enable input pin’s
signal from low to
high.
BOOL
True/False
WORD
mcUD: 0
mcPD: 1
mcAB: 2
mc4AB: 3
InputType
Input pulse type
ExtRstEN
External reset
switch
InitialValue
Initial value in the
counter specified
Name
5-204
Function
Setting value
Time when a value is valid
-
BOOL
True/False (*2 )
DWORD
K0~2,147,483,647
Data
type
Valid
An output value
is valid.
BOOL
Busy
The motion
control function
block is being
executed.
BOOL
Error
An error occurs in
the motion
control function
block.
BOOL
When the motion control function
block is executed, the value of the
InputType input pin is updated
repeatedly.
The value of the ExtRstEN input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
The value of the InitialValue input pin
is valid when there is a transition in
the Enable input pin’s signal from low
to high.
State output pin
Time when there is
a transition in an
Time when there is a transition in an
output pin’s signal output pin’s signal from high to low
from low to high
 There is a
 There is a transition in the Valid
transition in the
output pin’s signal from high to
Valid output pin’s
low when there is a transition in
the Enable input pin’s signal from
signal from low
high to low.
to high when
there is a
transition in the
Enable input
pin’s signal from
low to high.
 There is a transition in the Busy
 There is a
output pin’s signal from high to
transition in the
low when there is a transition in
Busy output
the Error output pin’s signal from
pin’s signal from
low to high.
low to high when
there is a
 There is a transition in the Busy
transition in the
output pin’s signal from high to
Enable input
low when there is a transition in
pin’s signal from
the Enable input pin’s signal from
low to high.
high to low.
 Input values are
 There is a transition in the Error
incorrect.
output pin’s signal from high to
low when there is a transition in
 The source
the Enable input pin’s signal from
specified has
high to low.
been occupied.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Value output pin
Name
Function
Data
type
Output range
CountValue
Value in the
counter specified
DWORD
K0~2,147,483,647
*1: Value of the Channel input pin
Value
0
1
2
3
4
5
Definition
C200
C204
C208
C212
C216
C220
Time when a value is valid
When the Valid output pin is set to
True, the value of the CountValue
output pin is updated repeatedly.
*2: External terminals for resetting the high-speed
counters in a DVP-10PM series motion
controller
Counter number
0
1
2
3
4
5
Reset terminal
X10
X11
X12
X13
X0
X1
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The counter specified has been used.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Use another counter, or stop the counter which has
been used.
4. Example
Purpose:
 The first axis sends pulses to high-speed counter 4. Users can check whether the number of
pulses output is the same as the number of pulses input. The external wiring required is shown
below.
Y10+ is connected to X10+.
Y10- is connected to X10.Y11+ is connected to X11+.
Y11- is connected to X11-.
DVP-10PM Application Manual
5-205
5 Applied Instructions and Basic Usage
 The pulses output by the first axis are A/B-phase pulses.
 After M21 is set to ON, high-speed counter 4 will be started.
 The value of POS is 30,000, and the value of VEL is 10,000.
 After M20 is set to ON, the absolute single-speed motion set will be started.
 Compare the value in D0 (the value in high-speed counter 4) with the value in D2 when M3 is ON.
5. Module which is supported
The motion control function block T_HCnt supports DVP10PM00M.
5.12.2 High-speed Timer
1. Motion control function block
The motion control function block T_HTmr is used to start a high-speed timer. The value of the
Channel input pin indicates a timer number, the value of the TriggerMode indicates a mode of
triggering the measurement of time, and the value of the TimerValue output pin the value in the timer
specified. 0.01 μs is a unit. The high-speed timer numbers available are the same as the high-speed
counter numbers available.
2. Input pins/Output pins
Input pin
Name
Channel
5-206
Function
Timer number
Data
type
WORD
Setting value
0~5 (*1)
Time when a value is valid
The value of the Channel input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
Input pin
Name
Enable
TriggerMode
Function
The motion
control function
block is
enabled when
there is a
transition in the
Enable input
pin’s signal
from low to
high.
Mode of
triggering the
measurement
of timer
Data
type
Setting value
Time when a value is valid
BOOL
True/False
-
BOOL
mcUp_Down: False
mcUp_Up: True
Name
Function
Data
type
Valid
An output value
is valid.
BOOL
Busy
The motion
control function
block is being
executed.
BOOL
Error
An error occurs
in the motion
control function
block.
BOOL
When the motion control function
block is executed, the value of the
TriggerMode input pin is updated
repeatedly.
State output pin
Time when there is
a transition in an
Time when there is a transition in an
output pin’s signal output pin’s signal from high to low
from low to high
 There is a
 There is a transition in the Valid
transition in the
output pin’s signal from high to
Valid output pin’s
low when there is a transition in
signal from low
the Enable input pin’s signal from
to high when
high to low.
there is a
transition in the
Enable input
pin’s signal from
low to high.
 There is a transition in the Busy
 There is a
output pin’s signal from high to
transition in the
low when there is a transition in
Busy output
the Error output pin’s signal from
pin’s signal from
low to high.
low to high when
there is a
 There is a transition in the Busy
transition in the
output pin’s signal from high to
Enable input
low when there is a transition in
pin’s signal from
the Enable input pin’s signal from
low to high.
high to low.
 Input values are
 There is a transition in the Error
incorrect.
output pin’s signal from high to
low when there is a transition in
 The source
the Enable input pin’s signal from
specified has
high to low.
been occupied.
Value output pin
Name
TimeValue
Function
Value in the
timer specified
DVP-10PM Application Manual
Data
type
DWORD
Output range
Time when a value is valid
K0~2,147,483,647
When the motion control function
block is executed, the value of the
TimerValue output pin is updated
repeatedly. If there is no trigger, the
value in the timer specified will remain
unchanged.
5-207
5 Applied Instructions and Basic Usage
*1: Value of the Channel input pin
Value
0
1
2
3
4
5
Definition
C200
C204
C208
C212
C216
C220
Terminal
X10
X11
X12
X13
X0
X1
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The timer specified has been used.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Use another timer, or stop the timer which has been
used.
4. Example
Purpose:
 Users can use the motion control function block T_InputPolarity to simulate the state of the
terminal for a high-speed timer.





After M0 is set to ON, the motion control function block T_InputPolarity will be started.
After M100 is set to ON, high-speed timer 3 will be started.
Set M12 to ON.
Set M12 to OFF.
The value of the TimerValue input pin indicates the time it takes for M12 to be turned from ON to
OFF. If the value of the TimerValue input pin is multiplied by 0.01, the product gotten will be the
number of microseconds.
5. Module which is supported
The motion control function block T_HTmr supports DVP10PM00M.
5-208
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
5.12.3 Setting High-speed Comparison
1. Motion control function block
The motion control function block T_Compare is used to start high-speed comparison. The value of
the Channel input pin indicates a comparator number, the value of the Source input pin indicates a
source, the value of the CmpMode input pin indicates a comparison condition, and the value of the
OutputDevice indicates an output device.
2. Input pins/Output pins
Name
Channel
Enable
Source
CmpMode
OutputDevice
OutputMode
Function
Data type
Input pin
Setting value
Comparator
number
WORD
0~7
The motion
control function
block is
enabled when
there is a
transition in the
Enable input
pin’s signal
from low to
high.
BOOL
True/False
Source
Comparison
condition
Output device
Output mode
DVP-10PM Application Manual
WORD
WORD
mcCmpAxis1: 0
mcCmpAxis2: 1
mcCmpAxis3: 2
mcCmpAxis4: 3
mcCmpC200: 4
mcCmpC204: 5
mcCmpC208: 6
mcCmpC212: 7
1: =
2: ≧
3: ≦
Time when a value is valid
The value of the Channel input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
-
The value of the Source input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
The value of the CmpMode input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
WORD
mcCmpY0: 0
mcCmpY1: 1
mcCmpY2: 2
mcCmpY3: 3
mcCmpRstC200: 4
mcCmpRstC204: 5
mcCmpRstC208: 6
mcCmpRstC212: 7
The value of the OutputDevice input
pin is valid when there is a transition in
the Enable input pin’s signal from low
to high.
BOOL
mcCmpSet: True
mcCmpRst: False
The value of the OutputMode input pin
is valid when there is a transition in the
Enable input pin’s signal from low to
high.
5-209
5 Applied Instructions and Basic Usage
Name
Function
Data type
CmpValue
Value with
which a source
is compared
DWORD
Name
Function
Data
type
Valid
An output value
is valid.
BOOL
Busy
The motion
control function
block is being
executed.
BOOL
Error
An error occurs
in the motion
control function
block.
BOOL
Input pin
Setting value
K-2,147,483,647~
K2,147,483,647
Time when a value is valid
The value of the CmpValue input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
State output pin
Time when there is
a transition in an
Time when there is a transition in an
output pin’s signal output pin’s signal from high to low
from low to high
 There is a
 There is a transition in the Valid
transition in the
output pin’s signal from high to
Valid output pin’s
low when there is a transition in
signal from low
the Enable input pin’s signal from
to high when
high to low.
there is a
transition in the
Enable input
pin’s signal from
low to high.
 There is a
 There is a transition in the Busy
transition in the
output pin’s signal from high to
Busy output
low when there is a transition in
pin’s signal from
the Error output pin’s signal from
low to high when
low to high.
there is a
 There is a transition in the Busy
transition in the
output pin’s signal from high to
Enable input
low when there is a transition in
pin’s signal from
the Enable input pin’s signal from
low to high.
high to low.
 Input values are
 There is a transition in the Error
incorrect.
output pin’s signal from high to
low when there is a transition in
 The source
the Enable input pin’s signal from
specified has
high to low.
been occupied.
Please note that the number of high-speed comparators plus the number of high-speed capturers is 8
at most.
 Source
 mcCmpAxis1: Present position of the first axis
 mcCmpAxis2: Present position of the second axis
 mcCmpAxis3: Present position of the third axis
 mcCmpAxis4: Present position of the fourth axis
 mcCmpC200: Present value in C200
 mcCmpC204: Present value in C204
 mcCmpC204: Present value in C208
 mcCmpC204: Present value in C212
 Output device
 mcCmpY0: Y0
 mcCmpY1: Y1
 mcCmpY2: Y2
 mcCmpY3: Y3
 mcCmpRstC200: Resetting C200
 mcCmpRstC204: Resetting C204
 mcCmpRstC208: Resetting C208
5-210
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
 mcCmpRstC212: Resetting C212
 Output mode
 The device specified is Y0, Y1, Y2, or Y3.
McCmpSet: Enabling the output device specified
McCmpRst: Diabling the output device specified
 The device specified is C200, C204, C208, or C212.
McCmpSet: The value in the counter specified is cleared.
McCmpRst: The counter specified counts.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The comparator specified has been used.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Use another comparator.
4. Module which is supported
The motion control function block T_Compare supports DVP10PM00M.
5.12.4 Resetting High-speed Comparison
1. Motion control function block
The motion control function block T_CmpRstOut is used to reset high-speed comparison. CLRY0,
CLRY1, CLRY2, CLRY3, CLRC200Rst, CLRC204Rst, CLRC208Rst, and CLRC212Rst determine the
output devices which will be reset. The values of the output pins indicate whether the output devices
Y0, Y1, Y2, Y3, C200, C204, C208, and C212 are enabled or disabled.
2. Input pins/Output pins
Input pin
Name
Function
Data
type
Enable
The motion
control function
block is
enabled when
there is a
transition in the
Enable input
pin’s signal
from low to
high.
BOOL
DVP-10PM Application Manual
Setting value
Time when a value is valid
True/False
-
5-211
5 Applied Instructions and Basic Usage
Input pin
Name
CLRY0
CLRY1
CLRY2
CLRY3
CLRC200Rst
CLRC204Rst
CLRC208Rst
Function
Data
type
Setting value
Time when a value is valid
Resetting the
output devices
Y0, Y1, Y2, Y3,
C200, C204,
C208, and
C212
BOOL
True/False
When the motion control function
block is executed, the values of these
input pins are updated repeatedly.
CLRC212Rst
Name
Function
Data
type
Valid
An output value
is valid.
BOOL
Busy
The motion
control function
block is being
executed.
BOOL
Error
An error occurs
in the motion
control function
block.
BOOL
Function
Data
type
State output pin
Time when there is
a transition in an
Time when there is a transition in an
output pin’s signal output pin’s signal from high to low
from low to high
 There is a
 There is a transition in the Valid
transition in the
output pin’s signal from high to
Valid output pin’s
low when there is a transition in
signal from low
the Enable input pin’s signal from
to high when
high to low.
there is a
transition in the
Enable input
pin’s signal from
low to high.
 There is a
 There is a transition in the Busy
transition in the
output pin’s signal from high to
Busy output
low when there is a transition in
pin’s signal from
the Error output pin’s signal from
low to high when
low to high.
there is a
 There is a transition in the Busy
transition in the
output pin’s signal from high to
Enable input
low when there is a transition in
pin’s signal from
the Enable input pin’s signal from
low to high.
high to low.
 Input values are
 There is a transition in the Error
incorrect.
output pin’s signal from high to
low when there is a transition in
 The source
the Enable input pin’s signal from
specified has
high to low.
been occupied.
Value output pin
Name
CmpY0
CmpY1
CmpY2
CmpY3
CmpC200
CmpC204
CmpC208
CmpC212
5-212
Output range
Time when a value is valid

States of the
output devices
Y0, Y1, Y2, Y3,
C200, C204,
C208, and
C212
BOOL
When the Valid output pin is set
to True, the values of these
output pins are updated
repeatedly.
True/False
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Example
Purpose:
 Two high-speed comparators are set. When the conditions set are met, users can check whether
the output devices specified are set/reset. The external wiring required is shown below.
Y10± are connected to X10±.
Y11± are connected to X11±.
C2 is connected to 24G.
Y2 is connected to X0.
S/S is connected to +24V.
DVP-10PM Application Manual
5-213
5 Applied Instructions and Basic Usage








5-214
If the program is executed, the pulses output by the first axis will be A/B-phase pulses, the motion
control function block T_CmpRstOut will be started, and the states of output devices will be read.
After M53 is set to ON, a high-speed counter will be started.
After M1 is set to ON, high-speed comparator 0 will be started.
Setting high-speed comparator 0: If the number of pulses output by the first axis is greater than or
equal to 50,000, Y2 will be set to ON.
After M10 is set to ON, high-speed comparator 1 will be started.
Setting high-speed comparator 1: If the value in C200 is equal to 5,000, the value in C200 will be
cleared to 0.
After M40 is set to ON, the first axis will move for 100,000 pulses.
If the value in C200 is equal to 5,000, and M31 is ON, the comparison condition set for high-speed
comparator 1 is met, and the value in C200 is cleared to 0. The value in C200 will be cleared to 0
next time the value in C200 becomes 5,000. If M31 is not reset, high-speed comparator 1 will not
act next time the comparison condition set for high-speed comparator 1 is met.
If the number of pulses output by the first axis is 100,000, the comparison condition set for
high-speed comparator 0 is met, and Y2 is set to ON. When Y2 is set to ON, the users can check
whether X0 is ON.
If X0 is ON, the comparison condition set for high-speed comparator 0 is met. The users can turn
X0 OFF by means of M22.
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
5. Module which is supported
The motion control function block T_CmpRstOut supports DVP10PM00M.
5.12.5 Setting High-speed Capture
1. Motion control function block
The motion control function block T_Capture is used to start high-speed capture. The value of the
Channel input pin indicates a capturer number. The value of the Source input pin indicates a source,
the value of the TriggerDevice input pin indicates the device which triggers the capture of a value, the
value of the InitialValue input pin is an initial value, and the value of the CapValue output pin is the
value captured.
2. Input pins/Output pins
Input pin
Name
Channel
Enable
Source
TriggerDevice
Function
Data
type
Setting value
Capturer
number
WORD
0~7
The motion
control
function block
is enabled
when there is
a transition in
the Enable
input pin’s
signal from
low to high.
BOOL
True/False
Source
Device which
triggers the
capture of a
value
DVP-10PM Application Manual
WORD
WORD
mcCapAxis1: 0
mcCapAxis2: 1
mcCapAxis3: 2
mcCapAxis4: 3
mcCapC200: 4
mcCapC204: 5
mcCapC208: 6
mcCapC212: 7
mcX0 (0): X0
mcX1 (1): X1
mcX2 (2): X2
mcX3 (3): X3
mcX4 (4): X4
mcX5 (5): X5
mcX6 (6): X6
mcX7 (7): X7
mcX10 (8): X10
mcX11 (9): X11
mcX12 (10): X12
mcX13 (11): X13
Time when a value is valid
The value of the Channel input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
-
The value of the Source input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
The value of the TriggerDevice input
pin is valid when there is a transition
in the Enable input pin’s signal from
low to high.
5-215
5 Applied Instructions and Basic Usage
Input pin
Name
InitialValue
Function
Initial value
Data
type
Setting value
Time when a value is valid
DWORD
K-2,147,483,648~
K2,147,483,647
The value of the InitialValue input pin
is valid when there is a transition in
the Enable input pin’s signal from low
to high.
Name
Function
Data
type
Valid
An output
value is valid.
BOOL
Busy
The motion
control
function block
is being
executed.
BOOL
Error
An error
occurs in the
motion
control
function
block.
BOOL
State output pin
Time when there is
a transition in an
Time when there is a transition in an
output pin’s signal
output pin’s signal from high to low
from low to high
 There is a
 There is a transition in the Valid
transition in the
output pin’s signal from high to
Valid output pin’s
low when there is a transition in
signal from low
the Enable input pin’s signal from
to high when
high to low.
there is a
transition in the
Enable input
pin’s signal from
low to high.
 There is a
 There is a transition in the Busy
transition in the
output pin’s signal from high to
Busy output
low when there is a transition in
pin’s signal from
the Error output pin’s signal from
low to high when
low to high.
there is a
 There is a transition in the Busy
transition in the
output pin’s signal from high to
Enable input
low when there is a transition in
pin’s signal from
the Enable input pin’s signal from
low to high.
high to low.
 Input values are
 There is a transition in the Error
incorrect.
output pin’s signal from high to
low when there is a transition in
 The source
the Enable input pin’s signal from
specified has
high to low.
been occupied.
Value output pin
Name
CapValue
Function
Value which
is captured
Data
type
DWORD
Output range
K-2,147,483,648~
K2,147,483,647
Time when a value is valid
When the motion control function
block is executed, the value of the
CapValue output pin is updated
repeatedly. If there is no trigger, the
value captured will remain
unchanged.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
The capturer specified has been used.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
Use another capturer.
4. Example
Purpose:
 Two high-speed capturers are used. If external terminals are turned ON, the present position of
the first axis and the present value in C200 will be captured. The motion control function block
5-216
DVP-10PM Application Manual
5
Applied Instructions and Basic Usage
T_InputPolarity is used to set the polarity of the external terminal which triggers the capture of the
present position of the first axis, and the polarity of the external terminal which triggers the capture
of the present value in C200. The external wiring required is shown below.
Y10± are connected to X10±.
Y11± are connected to X11±.
 The pulses output by the first axis are A/B-phase pulses. After the motion control function block
T_MotionObserve is enabled, the present position of the first axis and the present speed of the
first axis will be read.
 After M53 is set to ON, a high-speed counter will be started.
 After M1 is set to ON, high-speed capturer 0 will be started.
Setting high-speed capturer 0: If X0 is turned ON, the present position of the first axis will be
captured.
DVP-10PM Application Manual
5-217
5 Applied Instructions and Basic Usage
 After M10 is set to ON, high-speed capturer 1 will be started.
Setting high-speed capturer 1: If X10 is turned ON, the present value in C200 will be captured.
 After M40 is set to ON, the positive JOG motion of the first axis will be started.
 If M101 is turned ON, X0 will become a normally-closed contact, there will be a transition in X0’s
signal from low to high, and the value in D0 will change.
 If M109 is turned ON, X10 will become a normally-closed contact, there will be a transition in X10’s
signal from low to high, and the value in D10 will change.
5. Module which is supported
The motion control function block T_Capture supports DVP10PM00M.
5.12.6 High-speed Masking
1. Motion control function block
The motion control function block T_CapMask is used to start high-speed masking. The MaskValue
input pin determines the range which will be masked. After high-speed masking is started, if the
relative difference between the value captured this time and the value captured last time is in the
range which can be masked, the signal which triggers the capture of the value this time will be
disregarded.
2. Input pins/Output pins
Input pin
Name
Function
Data
type
Setting value
Time when a value is valid
Enable
The motion
control function
block is enabled
when there is a
transition in the
Enable input pin’s
signal from low to
high.
BOOL
True/False
-
MaskValue
5-218
Range which is
masked
DWORD
K0~2,147,483,647
When the motion control function
block is executed, the value of the
MaskValue input pin is updated
repeatedly.
DVP-10PM Application Manual
5
Name
Function
Busy
The motion
control function
block is being
executed.
Error
An error occurs in
the motion
control function
block.
Data
type
BOOL
BOOL
Applied Instructions and Basic Usage
State output pin
Time when there is
a transition in an
output pin’s signal
from low to high
 There is a
transition in the
Busy output
pin’s signal from
low to high when
there is a
transition in the
Enable input
pin’s signal from
low to high.
 Input values are
incorrect.
 The source
specified has
been occupied.
Time when there is a transition in an
output pin’s signal from high to low



There is a transition in the Busy
output pin’s signal from high to
low when there is a transition in
the Error output pin’s signal from
low to high.
There is a transition in the Busy
output pin’s signal from high to
low when there is a transition in
the Enable input pin’s signal from
high to low.
There is a transition in the Error
output pin’s signal from high to
low when there is a transition in
the Enable input pin’s signal from
high to low.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Example
 Purpose
A high-speed capturer and the motion control function block T_CapMask are used. If the present
position of the first axis is in the range (the value of the CapValue output pin±the value of the
MaskValue input pin) which is masked, it will not be captured after an external device is set to ON.
 After the program is executed, the present position of the first axis and the present speed of the
first axis will be read.
 After the value in D20 is set to 0, and M20 is turned ON, the first axis will output 0 pulses.
 Set the value in D12 to 100. After M1 is turned ON, high-speed capturer 0 will be started.
Setting high-speed capturer 0: If X0 is turned ON, the present position of the first axis will be
captured.
 Set the value in D10 to 500. After M10 is turned ON, the high-speed masking specified will be
started.
 After M101 is set to ON, there will be a transition in X0’s signal from low to high, and the value of
DVP-10PM Application Manual
5-219
5 Applied Instructions and Basic Usage
the CapValue output pin will still be 100.
 After the value in D20 is set to 500, and M20 is turned ON. The first axis will output 500 pulses.
 After M101 is set to ON, there will be a transition in X0’s signal from low to high, and the value of
the CapValue output pin will still be 100.
 After the value in D20 is set to 600, and M20 is turned ON. The first axis will output 600 pulses.
 After M101 is set to ON, there will be a transition in X0’s signal from low to high, and the value of
the CapValue output pin will become 600.
5. Module which is supported
The motion control function block T_CapMask supports DVP10PM00M.
5.12.7 Setting an Interrupt
1. Motion control function block
The motion control function block T_Interrupt is used to set the trigger for an interrupt subroutine. The
value of the IntSCR input pin indicates the trigger for an interrupt subroutine. If the interrupt set is a
time interrupt, the value of the TimePeriod input pin indicates the cycle of the interrupt.
2. Input pins/Output pins
Input pin
Name
IntSrc
Enable
TimePeriod
5-220
Function
Setting an
interrupt
The motion
control function
block is enabled
when there is a
transition in the
Enable input pin’s
signal from low to
high.
Cycle of a time
interrupt
(Unit: ms)
(Not applicable to
terminal
interrupts)
Data
type
Setting value
WORD
IntTimer: 0
IntX00: 1
IntX01: 2
IntX02: 3
IntX03: 4
IntX04: 5
IntX05: 6
IntX06: 7
IntX07: 8
BOOL
True/False
WORD
K1~K65,535
Time when a value is valid
The value of the IntSrc input pin is
valid when there is a transition in the
Enable input pin’s signal from low to
high.
-
When the motion control function
block is executed, the value of the
TimePeriod input pin is updated
repeatedly.
DVP-10PM Application Manual
5
Data
type
Name
Function
Valid
An Interrupt is
enabled.
BOOL
Busy
The motion
control function
block is being
executed.
BOOL
Error
An error occurs in
the motion
control function
block.
BOOL
Applied Instructions and Basic Usage
State output pin
Time when there is
a transition in an
Time when there is a transition in an
output pin’s signal output pin’s signal from high to low
from low to high
 There is a
 There is a transition in the Valid
transition in the
output pin’s signal from high to
Valid output pin’s
low when there is a transition in
signal from low
the Enable input pin’s signal from
to high when an
high to low.
interrupt is
enabled.
 There is a transition in the Busy
 There is a
output pin’s signal from high to
transition in the
low when there is a transition in
Busy output
the Error output pin’s signal from
pin’s signal from
low to high.
low to high when
there is a
 There is a transition in the Busy
transition in the
output pin’s signal from high to
Enable input
low when there is a transition in
pin’s signal from
the Enable input pin’s signal from
low to high.
high to low.
 Input values are
 There is a transition in the Error
incorrect.
output pin’s signal from high to
low when there is a transition in
 The source
the Enable input pin’s signal from
specified has
high to low.
been occupied.
3. Troubleshooting
Error
The values of input pins in the motion control function
block are incorrect.
Troubleshooting
Check whether the values of the input pins are in the
ranges allowed.
4. Example
Purpose:
 A time interrupt and an external interrupt are used. Users can use the motion control function block
T_InputPolarity to simulate the state of an external terminal.
I0:
I1:
O100:
 After M0 is set to ON, the motion control function block T_InputPolarity will be started.
DVP-10PM Application Manual
5-221
5 Applied Instructions and Basic Usage
 After M30 is set to ON, the time interrupt I0 and the external interrupt I1 will be started.
 After the time interrupt I0 is started, it will be executed every three seconds, and the value in
D9000 will increase by one every three seconds.
 After the external interrupt I1 is started, the users can simulate the state of X0 by setting M1. If M1
is turned from OFF to ON, the value in D9001 will increase by one.
5. Module which is supported
The motion control function block T_Interrupt supports DVP10PM00M.
5-222
DVP-10PM Application Manual
6 Multiaxial Interpolation
6.1 Introduction of Multiaxial Interpolation
DVP-10PM series motion controllers support multiaxial interpolation. Users can execute linear
interpolation by means of the instruction TO.
6.2 Description of TO
A DVP-10PM series motion controller can start and stop linear interpolation by means of the instruction
TO. The use of TO to set linear interpolation is described below.
 CR#2: Starting interpolation
X0
TO
K253
S
N
Initial
devic e
Quantity
of data
K2
CR
Module
number number
 Data
Device
S, S+1
S+2, S+3
S+4, S+5
S+6, S+7
S+8, S+9
S+10, S+11
S+12, S+13
S+14, S+15
Setting
Axes specified
Speed of interpolation
Poistion of the X-axis
Poistion of the Y-axis
Poistion of the Z-axis
Poistion of the A-axis
Poistion of the B-axis
Poistion of the C-axis
 The device (S, S+1) is described below.
Bit
Axis
number
31:12
Not
used
11:10
9:8
7:6
5:4
3:2
1:0
C-axis
B-axis
A-axis
Z-axis
Y-axis
X-axis
 Evey axis is controlled by two bits in (S, S+1).
Value
0
1
2
3
Definition
Not participating in interpolation
Participating in interpolation
Not used
Not used
 CR#3: Stopping interpolation
X0
TO
K253
Module
CR
number number

S
K3
Initial
devic e
N
Quantity
of data
Data
Device
S, S+1
Setting
Axes specified
 The device (S, S+1) is described below.
Bit
Axis
number
31:12
Not
used
11:10
9:8
7:6
5:4
3:2
1:0
C-axis
B-axis
A-axis
Z-axis
Y-axis
X-axis
 Evey axis is controlled by two bits in (S, S+1).
Value
0
1
Definition
Not participating in interpolation
Stopping linear interpolation
DVP-10PM Application Manual
6-1
6 Multiaxial Interpolation
Value
2
3

Definition
Not used
Not used
Users can set the parameters of the axes participating in linear interpolation by means of D1816,
D1896, D1976, D2056, D2136, and D2216..
Bit#
0
1
2
3
4
5
6*
7
Parameter of the axis
Bit#
8
9
10
11
12
Unit (Note 1)
Ratio (Note 2)
Output type(Note 2)
13
PWM mode (Note 3)
14
15
Parameter of the axis
Direction in which the axis returns home (Note 3)
Mode of returning home (Note 3)
Mode of triggering the return to home (Note 3)
Direction in which the motor rotates (Note 3)
Relative/Absolute coordinates (Note 3)
Mode of triggering the calculation of the target
position (Note 3)
Curve (Note 3)
Note 1:
b1
0
0
1
1
b0
0
1
0
1
Unit
Motor unit
Mechanical unit
Position
Compound unit
Speed
Motor unit Compound unit
pulse
um
pulse
mdeg
pulse
10-4 inches
pulse/second
pulse/second
pulse/second
Mechanical unit
centimeter/minute
10 degrees/minute
inch/minute
Note 2:
b3
0
0
1
1
b2
0
1
0
1
Ratio
100
101
102
103
b5
0
0
1
1
b4
0
1
0
1
Description
Positive-going pulse+Negative-going pulse
Pulse+Direction
A/B-phase pulse (two phases and two inputs)
Note 3:
Bit#
6
8
9
10
11
12
6-2
Description
Bit 6=1: Enabling a PWM mode
(1) If positive JOG motion is started, Y0~Y3 will execute PWM.
(2) If single-speed motion is started, Y0~Y3 will send single-phase pulses.
(3) Pulse width: D1838, D1918, D1998, and D2078
(4) Output period: D1842, D1922, D2002, and D2082
Bit 8=0: The value indicating the present command position of the axis decreases
progressively.
Bit 8=1: The value indicating the present command position of the axis increases
progressively.
Bit 9=0: Normal mode ; bit 9=1: Overwrite mode
Bit 10=0: The return to home is triggered by a transition in DOG’s signal from high to
low.
Bit 10=1: The return to home is triggered by a transition in DOG’s signal from low to
high.
Bit 11=0: When the motor rotates clockwise, the value indicating the present command
position of the axis increases.
Bit 11=1: When the motor rotates clockwise, the value indicating the present command
position of the axis decreases.
Bit 12=0: Absolute coordinates
Bit 12=1: Relative coordinates
DVP-10PM Application Manual
6 Multiaxial Interpolation
Bit#
13
14
Description
Bit 13=0: The calculation of the target position of the axis is triggered by a transition in
DOG’s signal from low to high.
Bit 13=1: The calculation of the target position of the axis is triggered by a transition in
DOG’s signal from high to low.
(The setting of bit 13 is applicable to the insertion of single-speed motion, and the
insertion of two-speed motion.)
Bit 14=0: Trapezoid curve
Bit 14=1: S curve
Users can use M1792, M1872, M2032, M2112, M2192, and M2272 to judge whether the axes complete
the execution of linear interpolation..
DVP-10PM Application Manual
6-3
6 Multiaxial Interpolation
MEMO
6-4
DVP-10PM Application Manual
7
CANopen Communication Card
7.1 Introduction of DVP-FPMC: CANopen Communication Card
DVP-FPMC is a CANopen communication card for a DVP-10PM series motion controller to conduct
data exchange. The functions of DVP-FPMC are as follows.
 It conforms to the CANopen standard protocol DS301 v4.02.
 It supports an NMT protocol.
 It supports an SDO protocol.
 It supports the CANopen standard protocol DS402 v2.0. Four motion axes at most are supported.
 Motion axes support a profile position mode.
7.2 Specifications
 CANopen connector
Item
Transmission method
Electrical isolation
Type
Transmission cable
Specifications
CAN
500 V DC
Removable connector (5.08 mm)
2 communication cables, 1 shielded cable, and 1 ground
 Ethernet connector
Item
Transmission method
Electrical isolation
Type
Transmission cable
Specifications
Ethernet
500 V DC
Removable connector (5.08 mm)
2 communication cables, 1 shielded cable, and 1 ground
 Communication
Item
Specifications
PDO, SDO, SYNC (synchronous object), EMCY (emergency object), NMT,
Heartbeat
500 kbps, 1 Mbps (bits per second)
254
0 (Non-profile)
477 (Delta Electronics, Inc.)
Protocol type
Serial transmission speed
Product code
Equipment type
Company ID
 Electrical specifications
Item
Specifications
24 V DC (-15~20%)
(A DVP-10PM series motion controller supplies power through its internal bus.)
Supply voltage
Electric energy
consumption
Insulation voltage
Weight
1.7 W
500 V
Approximately 66 g
 Environmental specifications
Item
Noise immunity
Operation/Storage
Vibration/Shock
resistance
Standard
Specifications
ESD (IEC 61131-2, IEC 61000-4-2): 8 kV air discharge, 4 kV contact discharge
EFT (IEC 61131-2, IEC 61000-4-4): Power line: 2 kV; Digital I/O: 1 kV; Analog &
Communication I/O: 1 kV
Damped-Oscillatory Wave: Power line: 1 kV; Digital I/O: 1 kV
RS (IEC 61131-2, IEC 61000-4-3): 80 MHz~1000 MHz, 1.4 GHz~2.0GHz, 10V/m
Operation: 0ºC ~ 55ºC (Temperature), 50~95% (Humidity) , pollution degree 2
Storage: -25ºC~70ºC (Temperature), 5~95% (Humidity)
International standards IEC 61131-2, IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC
68-2-27 (TEST Ea)
IEC 61131-2
DVP-10PM Application Manual
7-1
7 CANopen Communication Card
7.3 Product Profile and Installation
Product profile:
1
3
4
2





5
CANopen connector
Ethernet connector
CANopen indicator
Ethernet indicator
Communication connector
Installing DVP-FPMC on a DVP-10PM series motion controller, and connecting it to a communication
cable:
Ethernet
CANopen
7.4 Parameters for Control Registers
 Normal mode: Common parameters
CR
number
#001
#052
#053
#054
#055
#056
#059
#062
#063
#064
#065
#066
#067
#070
#071
#072
#073
#074
#075
#076
#080
7-2
Function
Firmware version of DVP-FPMC
CANopen synchronous packet sending setting
CANopen node ID setting
CANopen transmission speed setting
CANopen SDO/NMT timeout
DVP-FPMC error status
Network IP address and port setting for DVP-FPMC
Ethernet connection command and status
IP address and port setting for an Ethernet master
Length of data to be transmitted through Ethernet
Data to be transmitted through Ethernet
Length of data to be received through Ethernet
Data to be received through Ethernet
Node ID of an SDO server
SDO access command and status
SDO OD index
SDO OD transmission/reception register 1
SDO OD transmission/reception register 2
SDO OD transmission/reception register 3
SDO OD transmission/reception register 4
NMT command
Attribute
R
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R
R
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Data
type
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Word
Length
1
1
1
1
1
1
3
1
3
1
512
1
512
1
1
1
512
512
512
512
1
DVP-10PM Application Manual
7
CANopen Communication Card
 A2 mode: Four-axis parameters
CR
number
#010
#020
#040
#050
#090
#091
#092
#093
#n00
#n01
#n02
#n03
#n04
#n05
#n06
#n07
#n08
#n09
#n10
#n11
#n12
#n20
#n21
#n22
#n23
#n40
#n50
#n51
#n52
#n53
#n54
#n55
#n60
#n61
#n70
#n71
#n72
#n73
#n74
#n75
#n76
#n77
#n78
#n80
#n81
#n82
#n83
#n84
Function
Attribute
Data type
Length
CANopen bus scan
CANopen bus communication status
Error status of a server
CANopen bus control command
Data written into a DVP-FPMC QBuffer
Address of the data written into a DVP-FPMC QBuffer
Data read from a DVP-FPMC QBuffer
Address of the data read from a DVP-FPMC QBuffer
Node ID
R/W
R
R
R/W
R/W
R/W
R/W
R/W
R
Word
Word
Word
Word
Word
Word
Word
Word
Word
1
1
1
1
32
32
32
32
1
Manufacturer ID
R
Word
1
Product ID
R
Word
1
Firmware version
R
Word
1
Product type
R
Word
1
CANopen node communication status
Emergency error code
R
R
Word
Word
1
1
Manufacturer’s error code
R
Word
1
Servo drive status
Present motion mode of a servo drive
R
R
Word
Word
1
1
Servo drive position
R
Word
1
Node control command
SDO access command and status
SDO OD (object dictionary) index
SDO transmission/reception register 1
SDO transmission/reception register 2
SDO transmission/reception register 3
SDO transmission/reception register 4
Servo drive control
Motion mode selection
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Word
Word
Word
Word
Word
Word
Word
Word
Word
1
1
1
512
512
512
512
1
1
Target position of a profile position mode
R/W
Word
1
Target speed of a profile position mode
R/W
Word
1
Acceleration time of a profile position mode (ms)
R/W
Word
1
Deceleration time of a profile position mode (ms)
R/W
Word
1
Profile position settings
Homing method
R/W
R/W
Word
Word
1
1
Home offset
R/W
Word
1
Homing speed
R/W
Word
1
DVP-10PM Application Manual
7-3
7 CANopen Communication Card
CR
number
#n85
#n86
#n87
#n88
#n89
#n90
#n91
#n92
Function
Attribute
Data type
Length
Speed at which motion homes after a transition in a
DOG signal
R/W
Word
1
Homing acceleration time
R/W
Word
1
Enabling a homing mode
R/W
Word
1
Target position of an interpolation mode
R/W
Word
1
Enabling an interpolation mode
R/W
Word
1
Attribute
Data type
Length
R/W
R/W
R
R
Word
Word
Word
Word
1
1
1
1
Attribute
R/W
R/W
R/W
R/W
R/W
R/W
R/W
Data type
DWord
Word
Word
DWord
Word
Dword
Word
Length
1
1
3
4
3
4
4
 CANopen common mode
CR
number
#500
#504
#505
#506
Function
CANopen mode switch
Enabling a heartbeat protocol
Execution status of a heartbeat protocol
Heartbeat statuses
 Object dictionary parameters
CR number
#H’1006
#H’1017
#H’1400~#H’143F
#H’1600~#H’163F
#H’1800~#H’183F
#H’1A00~#H’1A3F
#H’2000~#H’207F
Function
Synchronization cycle setting
DVP-FPMC heartbeat cycle setting
Parameter settings for a RPDO
Parameter settings for RPDO data mapping
Parameter settings for a TPDO
Parameter settings for TPDO data mapping
PDO data registers
7.5 Descriptions of Control Registers
 Normal mode: Common parameters
CR#001: Firmware version of DVP-FPMC
[Description]
The firmware version of DVP-FPMC is displayed in a hex value, e.g. H’8161 indicates that the data of
issuing the firmware of DVP-FPMC is “Afternoon, August 16”.
CR#052: CANopen synchronous packet sending setting
[Description]
The control register has two functions.
 The low byte of CR052 sets up a CANopen synchronous function. If the value of the low byte is 1,
DVP-FPMC will send out a synchronous packet. If the value is 0, the function will be disabled.
 The high byte of CR052 sets up a synchronous cycle. Setting value×5=Value in D1040. If the value
of the high byte is greater than 0, the synchronization between the DVP-10PM series motion
controller used and DVP-FPMC will be enabled.
Bit
Value
Bit [15:8]
Synchronous cycle
Bit [7:0]
Enabling the sending of a synchronous packet
CR#053: CANopen node ID setting
[Description]
The control register is used to set a CANopen node ID. A CANopen node ID is in the range of 5 to 127.
Default value: 127
7-4
DVP-10PM Application Manual
7
CANopen Communication Card
CR#054: CANopen transmission speed setting
[Description]
The control register is used to set a CANopen transmission speed. The setting status is indicated by bit
15. If bit 15 is 1, the setting is in progress. If bit 15 is 0, the setting is completed. For example, if the
CANopen transmission speed required is 1000 kb/s, users can write K1000 into CR#054.
Bit
Setting
value
Bit [15]
Setting status
0: Completed
1: In progress
Bit [14:0]
1000: CANopen speed=1000 kb/s
500: CANopen speed=500 kb/s
CR#055: CANopen SDO/NMT timeout
[Description]
The control register is used to set a CANopen SDO/NMT timeout.
Unit: Millisecond
Default value: 1000
CR#056: DVP-FPMC error status
[Description]
The control register is used to display the error status of DVP-FPMC. Please refer to the table below for
more information.
Error status
CANopen connection error
Value
C1
Ethernet connection error
E1
Resolution
Check the CANopen nodes of the present slaves.
Check the connection between the communication
module and Ethernet.
CR#059: Network IP address and port setting for DVP-FPMC
[Description]
The control register is used to set an IP address and a port number for DVP-FPMC.
Data length: 3 words
Default IP address: 192.168.0.100
Port number: 1024
Please refer to the example below. (IP address: 192.168.0.100; Port number: 1024)
Word 0
H-byte
L-byte
192
168
Word 1
H-byte
L-byte
0
100
Word 2
1024
CR#062: Ethernet connection command and status
[Description]
The control register is used to set an Ethernet connection command, and obtain a connection status.
 H’0: Disconnected
 H’30: Connected
 H’10: Sending a connection command
 H’20: Sending a disconnection command
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7 CANopen Communication Card
CR#063: IP address and port setting for an Ethernet master
[Description]
The control register is used to set an IP address and a port number for an Ethernet master.
Data length: 3 words
Please refer to the table below for more information.
Word 0
H-byte
L-byte
192
168
Word 1
H-byte
L-byte
0
100
Word 2
1024
CR#064~CR#67: Length of data to be transmitted/received through Ethernet/Data to be
transmitted/received through Ethernet
[Description]
The control register is used to set the data to be accessed through Ethernet. The maximum capacity is
1024 bytes.
 Sending data: After users write a data length data into CR#064, and data into CR#65, DVP-FPMC
will automatically clear values in the two control registers to 0.
 Receiving data: Users read the contents of CR#066 first, and then read the data in CR#067.
CR#070: Node ID of an SDO server
[Description]
The control register is used to set the node ID of an SDO server. A node ID is in the range of 1 to 127.
CR#071: SDO access command and status
[Description]
The control register is used to set an SDO access command, and obtain a status. Please refer to the table
below for more information.
Bit
Setting
value
Bit [15:8]
Bit [7:4]
Bit [3]
Subindex of a target OD
index
Data length (Unit: Byte)
Range: 1~8
If users want to write data, they
have to specify a data length.
Error
flag
Bit [2:0]
Command:
0: Completed
1: Writing (including a check)
2: Reading (including a check)
3: Writing (not including a
check)
4: Reading (not including a
check)
Example: SDO data transmission
1. Specify the OD index of an SDO server (CR#070) in CR#072.
2. Set the data to be transmitted in CR#073~CR#076.
3. Refer to the table above. Specify a subindex in bit 15~bit 8 in CR#071, and an SDO access
command.
1
OD index
3
7-6
S ubind ex
D ata
S ubind ex
D ata
S ubind ex
D ata
S ubind ex
D ata
S ubind ex
D ata
S ubind ex
D ata
2
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CANopen Communication Card
CR#072: SDO OD index
[Description]
The control register is used to specify a target OD index.
Range: H’0000~H’FFFF.
CR#073~CR#76: SDO OD transmission/reception register 1~SDO OD transmission/reception register
4
[Description]
The data to be accessed through an SDO protocol is stored in the four control registers. The maximum
capacity is 1024 bytes. If an error occurs during SDO data transmission, an error code will be stored in
CR#073 and CR#074. If CR#073~CR#076 are used at a time, CR#073 functions as the LSB and CR#076
functions as the MSB.
CR#080: NMT command
[Description]
If DVP-FPMC is a master, an NMT command can be used to change a network status. Please refer to the
table below for more information.
Bit
Setting
value
Bit [15:8]
Bit [7:0]
Network management command
1: Enabling node communication
2: Disabling node communication
128: Switch an operation mode
129: Resetting node communication
Node ID of a slave
 Parameters for an A2 mode
An A2 mode is one of the applications of DVP-FPMC specifically for Delta ASDA-A2 series servo
drives. In an A2 mode, CANopen node ID 1~CANopen ID 4 are for ASDA-A2 series servo drives,
and CR#100~CR#499 correspond to servo parameters. CR#100~CR#199 are control registers for
node ID 1, CR#200~CR#299 are control registers for node ID 2, CR#300~CR#399 are control
registers for node ID 3, CR#400~CR#499 are control registers for node ID 4. n in a control register
number represents the digit in the hundreds place of the control register number. It is in the range of
1 to 4. Control registers for ASDA-A2 application are applicable only in an A2 mode.
CR#010: CANopen bus scan
[Description]
The control register is used to scan CANopen node ID 1~CANopen node ID 4. Bit 0~bit 3 in CR#010
correspond to node 1~node 4. If a bit is 1, its corresponding node will be scanned, and the contents of the
control register will be cleared automatically. Please refer to the table below for more information.
Bit
Bit [15:4]
Bit [3]
Bit [2]
Bit [1]
Bit [0]
Node
number
Reserved
Node 4
Node 3
Node 2
Node 1
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7 CANopen Communication Card
CR#020: CANopen bus communication status
[Description]
Two consecutive bits in the control register are used to display a node communication status.
00: Disconnected
01: Connected
11: Ready
Please refer to the table below for more information.
Bit
Node
number
Bit [15:8]
Bit [7:6]
Bit [5:4]
Bit [3:2]
Bit [1:0]
Reserved
Node 4
Node 3
Node 2
Node 1
CR#040: Error status of a server
[Description]
The control register is used to display the error status of a servo drive. Bit 0~bit 3 in CR#010 correspond
to node 1~node 4. If an error occurs, its corresponding bit will be 1. If an error reset command is executed,
the contents of the register will be cleared automatically. Please refer to the table below for more
information.
Bit
Node
number
Bit [15:4]
Bit [3]
Bit [2]
Bit [1]
Bit [0]
Reserved
Node 4
Node 3
Node 2
Node 1
CR#050: CANopen bus control command
[Description]
The control register is used to send bus control commands to the nodes connected successfully in a
CANopen network. If the value in the control register is 1, the servos which have been connected are ON.
If the value in the control registers is 128, the servos which have been connected are OFF. If the value in
the control register is 129, the errors which appear are cleared. After the setting of the control register is
completed, the contents of the register will be cleared automatically. Please refer to the table below for
more information.
Bit
Value
7-8
Bit [15:8]
Reserved
Bit [7:0]
1: All servos are ON.
128: All servos are OFF.
129: All errors are cleared.
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7
CANopen Communication Card
CR#090~CR#093: Data written into/read from a DVP-FPMC QBuffer/Address of the data written
into/read from a DVP-FPMC QBuffer
[Description]
A QBuffer is designed for accessing several inconsecutive control registers by means of executing
TO/FROM once. PLC scan time can be reduced by decreasing the number of times TO/FROM is
executed. QBuffer access operation is described below.
For example, after the inconsecutive control register numbers CR#170, CR#171, CR#280, CR#289, and
CR#376 are written into the QBuffer address CR#91, DVP-FPMC will connect the data in CR#170,
CR#171, CR#280, CR#289, and CR#376 with CR#90 automatically. Users only need to access CR#90,
and the data in CR#170, CR#171, CR#280, CR#289, and CR#376 can be modified.
Registers in a DVP-10PM
series motion controller
CR#90 QB uffer data CR#91 QBuffer address
1
Data A
1
170
CR#170
Data A
2
Data B
2
171
CR#171
Data B
3
Data C
3
280
4
Data D
4
289
CR#280
Data C
5
Data E
5
376
CR#289
Data D
CR#376
Data E
6
6
32
32
CR#n00: Node ID
[Description]
The control register is used to display the node ID of a servo drive in a CANopen network.
Node ID=1: CR#100=1
Node ID=2: CR#200=2
Node ID=3: CR#300=3
Node ID=4: CR#400=4
CR#n01~CR#n02: Manufacturer ID
[Description]
The control registers are used to display the manufacturer ID of an ASDA-A2 series servo drive.
Data type: Double word
CR#n03~CR#n04: Product ID
[Description]
The control registers are used to display the product ID of an ASDA-A2 series servo drive.
Data type: Double word
CR#n05~CR#n06: Firmware version
[Description]
The control registers are used to display the firmware version of an ASDA-A2 series servo drive.
Data type: Double word
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7 CANopen Communication Card
CR#n07~CR#n08: Product type
[Description]
The control registers are used to display the product type of an ASDA-A2 servo drive.
Data type: Double word
CR#n09: CANopen node communication status
[Description]
The control register is used to display a node communication status in a CANopen network. Please refer
to the table below for more information.
Status
Disconnected
Connected
Operation mode
Error
Reset
Value
H’1
H’2
H’5
H’6
H’7
CR#n10: Emergency error code
[Description]
The control register is used to display an error code defined by a CANopen protocol when an error occurs
in a certain node.
CR#n11~CR#n12: Manufacturer’s error code
[Description]
The control registers are used to display an error code defined by a manufacturer when an error occurs in
an ASDA-A2 series servo drive. Please refer to Delta ASDA-A2 User Manual for more information about
error codes.
CR#n20: Servo drive status
[Description]
The value in the control register indicates the present status of an ASDA-A2 series servo drive. Please
refer to the table below for more information.
Status word
X OM OM OM
Bit








15
14
13
12
X
TR R M
X
11
10
8
9
WR X
7
6
QS
X
5
4
FT S O
3
2
X
RS
1
0
RS: The servo drive is ready. After the initialization of the servo drive is completed, the bit will be 1.
SO: The servo drive is ON. The bit will be 1 if the servo drive is ON.
FT: It is an error flag. If an error occurs in the servo drive, the bit will be 1.
QS: If the bit is 1, the servo drive can be stopped urgently.
WR: It is a warning flag. If the servo drive sends a warning message, the bit will be 1.
RM: If the bit is 1, remote monitoring can be executed.
TR: If the execution of a motion command is completed, the bit will be 1.
OM [14:12]: The bits indicate the statuses of motion modes. Please see the table below for more
information.
OM [12]
OM [13]
7-10
Profile position mode
A target position has
been set successfully.
Following error
Homing mode
A homing mode is being
executed.
Homing error
Interpolation mode
An interpolation mode is
being executed.
X
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7
Profile position mode
X
OM [14]
CANopen Communication Card
Homing mode
X
Interpolation mode
Enabling synchronization
CR#n21: Present motion mode of a servo drive
[Description]
The control register is used to display the present motion mode of a servo drive.
Value
0x01
0x06
0x07
Motion mode
Profile position mode
Homing mode
Interpolation mode
CR#n22~CR#n23: Servo drive position
[Description]
The control registers are used to display the present position of a servo drive.
Data type: Double word
CR#n40: Node control command
[Description]
The control register is used to send a node control command to the node connected. If the value in the
control register is 1, the servo which has been connected is ON. If the value in the control registers is 128,
the servo which has been connected is OFF. If the value in the control register is 129, the error which
appears is cleared. Please refer to the table below for more information.
Bit
Value
Bit [15:8]
Reserved
Bit [7:0]
1: The servo which has been connected is ON.
128: The servo drive which has been connected is OFF.
129: The error which appears is cleared.
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7 CANopen Communication Card
CR#n50: SDO access command and status
[Description]
The control register is used to set an SDO access command, and obtain a status. Please refer to the table
below for more information.
Bit
Setting
value
Bit [15:8]
Bit [7:4]
Subindex of a target OD
index
Bit [3]
Data length (Unit: Byte)
Range: 1~8
If users want to write data, they
have to specify a data length.
Bit [2:0]
Command:
0: Completed
1: Writing (including a check)
2: Reading (including a check)
3: Writing (not including a
check)
4: Reading (not including a
check)
Error
flag
Example: SDO data transmission
1. Specify the OD index of an SDO server in CR#n51.
2. Set the data to be transmitted in CR#n52~CR#n55.
3. Refer to the table above. Specify a subindex in bit 15~bit 8 in CR#n50, and an SDO access
command.
1
OD index
3
Subind ex
D ata
S ubind ex
D ata
S ubind ex
D ata
S ubind ex
D ata
S ubind ex
D ata
S ubind ex
D ata
2
CR#n51: SDO OD (object dictionary) index
[Description]
The control register is used to specify the OD index of a node.
Range: H’0000~H’FFFF.
CR#n52~CR#n55: SDO transmission/reception register 1~SDO transmission/reception register 4
[Description]
The data to be accessed through an SDO protocol is stored in the four control registers. The maximum
capacity is 1024 bytes. If an error occurs during SDO data transmission, an error code will be stored in
CR#n52 and CR#n53. If CR#n52~CR#n55 are used at a time, CR#n52 functions as the LSB and CR#n55
functions as the MSB.
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CANopen Communication Card
CR#n60: Servo drive control
[Description]
The control register is used to send a control command to an ASDA-A2 series servo drive. Please refer to
the table below for more information.
Contr ol word
Bit



X
X
X
X
X
X
X
X
FR
OM
OM
OM
EO
X
X
X
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
EO: The servo drive is enabled. The servo drive will be ON if the bit is 1.
FR: The error occurs in the servo is cleared. The servo drive will clear the error which appears if the
bit is 1.
OM: It is used to control the function of motion modes. Please refer to the table below for more
information.
Profile position mode
Setting a new target position
A target position is allowed to
OM [5]
be changed during motion.
OM [6]
Absolute/Relative positioning
Note: “X” indicates “Reserved”.
OM [4]
Homing mode
Enabling a homing mode
Interpolation mode
X
X
X
X
X
CR#n61: Motion mode selection
[Description]
The control register is used to set the motion mode of a servo drive. Please refer to the table below for
more information.
Setting value
0x01
0x06
0x07
Motion mode
Profile position mode
Homing mode
Interpolation mode
CR#n70~CR#n71: Target position of a profile position mode
[Description]
The control registers are used to set the target position of a profile position mode.
Data type: Double word
CR#n72~CR#n73: Target speed of a profile position mode
[Description]
The control registers are used to set the target speed of a profile position mode.
Data type: Double word
CR#n74~CR#n75: Acceleration time of a profile position mode
[Description]
The control registers are used to set the acceleration time of a profile position mode.
Data type: Double word
CR#n76~CR#n77: Deceleration time of a profile position mode
[Description]
The control registers are used to set the deceleration time of a profile position mode.
Data type: Double word
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7 CANopen Communication Card
CR#n78: Profile position settings
[Description]
The control register is used to set a profile position mode. A profile position mode can be absolute
positioning or relative positioning.
 0: Positioning is completed.
 1: A profile position mode is absolute positioning. The value in the control register will be cleared to
0 after positioning is completed.
 2: A profile position mode is relative positioning. The value in the control register will be cleared to 0
after positioning is completed.
 3: A profile position mode is absolute positioning. The value in the control register will be retained
after positioning is completed.
CR#n80: Homing method
[Description]
The control register is used to set a homing method.
Range: 1~35
For more information, please refer to chapter 13 in CiA DSP402 V2.0.
CR#n81~CR#n82: Home offset
[Description]
The control registers are used to set a home offset.
Range: -2,147,483,648~2,147,483,647
Data type: Double word
CR#n83~CR#n84: Homing speed
[Description]
The control registers are used to set a homing speed.
Range: 0~2,147,483,647
Data type: Double word
CR#n85~CR#n86: Speed at which motion homes after a transition in a DOG signal
[Description]
The control registers are used to set the speed at which motion homes after a transition in a DOG signal.
Range: 0~2,147,483,647
Data type: Double word
CR#n87~CR#n88: Homing acceleration time
[Description]
The control registers are used to set homing acceleration time.
Range: 0~2,147,483,647
Data type: Double word
CR#n89: Enabling a homing mode
[Description]
A homing mode will be executed if the value in the control register is 1. After homing is completed, the
value in the control register will be cleared to 0 automatically.
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CANopen Communication Card
CR#n90~CR#n91: Target position of an interpolation mode
[Description]
The control registers are used to set the target position of an interpolation mode.
Range: -2,147,483,648 ~2,147,483,647
Data type: Double word
CR#n92: Enabling an interpolation mode
[Description]
An interpolation mode will be executed if the value in the control register is 1. An interpolation mode will
be disabled if the value in the control register is 0.
 CANopen common mode
CR#500: CANopen mode switch
[Description]
The control register is used to switch the CANopen mode of DVP-FPMC. If the value in the control
register is 1, the CANopen mode of DVP-FPMC is an A2 mode. If the value in the control register is 2, the
CANopen mode of DVP-FPMC is a normal mode.
Default value: 1
Control registers for an A2 mode will be unavailable if the CANopen mode of DVP-FPMC is a normal
mode. Control registers for a normal mode will be unavailable if the CANopen mode of DVP-FPMC is an
A2 mode.
CR#504: Enabling a heartbeat protocol
[Description]
If a heartbeat protocol is enabled in a common mode, the heartbeat mechanisms of node ID 1~nod ID 16
(slaves) will be enabled by a master. If the value in the control register is 0, a heartbeat protocol is
disabled. If the value in the control register is 1, a heartbeat protocol is enabled.
CR#505: Execution statuses of a heartbeat protocol
[Description]
The control register is used to display the execution statuses of the heartbeat protocol executed by node
ID 1~node ID 16. If the value in the control register is 0, the execution of a heartbeat protocol is completed.
If the value in the control register is 1, a heartbeat protocol is being executed.
CR#506: Heartbeat statuses
[Description]
The control register is used to display the heartbeat statuses of node ID1~node ID 16. Node ID 1~node ID
16 correspond to bit 0~bit 15. If the heartbeat mechanism of a slave is enabled successfully, the bit
corresponding to the salve is 1. If the heartbeat mechanism of a slave is not enabled, the bit
corresponding to the salve is 0. In addition, if a slave is disconnected from a master, the bit corresponding
to the slave is 0.
Heartbeat status es of s laves
Node IDs
Bit
16
15
14 13
12
11
10
9
8
7
6
5
4
3
2
1
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
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7 CANopen Communication Card
 Object dictionary parameters
CR#H’1006: Synchronization cycle setting
[Description]
The control register is used to set a time interval (unit) for the sending of CANopen synchronization
packets in a normal mode.
Unit: μs
Data type: Double word
Default value: 5000
A synchronization cycle is measured by the millisecond now. The time less than one millisecond is
ignored. It is suggested that the minimum synchronization cycle for 1 PDO~3 PDOs in a CANopen
network should be 3 milliseconds, and the minimum synchronization cycle for 4 PDOs~8PDOs should be
4 milliseconds. That is to say, one millisecond will be added to a minimum synchronization cycle if four
PDOs are added.
CR#H’1017: DVP-FPMC heartbeat cycle setting
[Description]
The control register is used to set a heartbeat cycle.
Unit: Millisecond
Default value: 0
If the value in the control register is 0, the heartbeat mechanism of DVP-FPMC is not enabled.
CR#H’1400~CR#H’143F: Parameter settings for a RPDO
[Description]
The control registers are used to set the parameters for RPDO in a normal mode. The capacity of the
control registers is 3 words. Please refer to the table below for more information.
Transmission method
Word 2


PDO ID
Word 1 (High)
Word 0 (Low)
PDO ID: A CANopen POD ID occupies two words.
Default values:
CR#H’1400=H180+FPMC DVP-FPMC node ID (CR#053)
CR# H’1401=H280+FPMC DVP-FPMC node ID (CR#053)
CR#H’1403=H380+FPMC DVP-FPMC node ID (CR#053)
CR#H’1404=H480+FPMC DVP-FPMC node ID (CR#053)
Transmission method: If the value set is in the range of 1 to 240, the sending of a PDO is
synchronized with the sending of a CANopen packet, and is executed every synchronization cycle.
If the value set is in the range of 241 to 255, no PDO is sent.
Default value: 241
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CANopen Communication Card
CR#H’1600~CR#H’163F: Parameter settings for RPDO data mapping
[Description]
The control registers are used to set parameters for RPDO data mapping in a normal mode. A RPDO
parameter is composed of a double word. The first word is used to set an OD Index. The high byte of the
second word is used to set a subindex, and the low byte is used to set a data type. A bit is a unit for
setting a data type. Please refer to the figure below for more information.
PDO d at a b uf fer
RPDO map pin g form at
S ub in de x 1
Ind ex
O D in de x
Ind ex
Su bi nd ex
(1600~ 163F)
L en gth
( Data )
(2000~ 207F)
S ub in de x 2
S ub in de x 3
S ub in de x 4
CR#H’1800~CR#H’183F: Parameter settings for a TPDO
[Description]
The control registers are used to set the parameters for TPDO in a normal mode. The capacity of the
control registers is 3 words. Please refer to the table below for more information.
Transmission method
Word 2


PDO ID
Word 1 (High)
Word 0 (Low)
PDO ID: A CANopen POD ID occupies two words.
Default values:
CR#H’1800=H200+ DVP-FPMC node ID (CR#053)
CR# H’1801=H300+ DVP-FPMC node ID (CR#053)
CR#H’1803=H400+ DVP-FPMC node ID (CR#053)
CR#H’1804=H500+ DVP-FPMC node ID (CR#053)
Transmission method: If the value set is in the range of 1 to 240, the sending of a PDO is
synchronized with the sending of a CANopen packet, and is executed every synchronization cycle.
If the value set is in the range of 241 to 255, no PDO is sent.
Default value: 241
Transmission method
Word 2
PDO ID
Word 1 (High)
Word 0 (Low)
CR#H’1A00~CR#H’1A3F: Parameter settings for TPDO data mapping
[Description]
The control registers are used to set parameters for TPDO data mapping in a normal mode. A TPDO
parameter is composed of a double word. The first word is used to set an OD Index. The high byte of the
second word is used to a subindex, and the low byte is used to set a data type (unit: bit). Please refer to
the figure below for more information.
PDO d ata b uf fer
T PDO m app ing f orm at
Ind ex
O D in de x
Ind ex
( 1A00~1A3F )
Su bi nd ex
L en gth
( Data )
S ub in de x 1
( 2000~ 207F)
S ub in de x 2
S ub in de x 3
S ub in de x 4
DVP-10PM Application Manual
7-17
7 CANopen Communication Card
CR#H’2000~CR#H’207F: PDO data registers
[Description]
Data registers storing the data for PDO access. DVP-FPMC takes CR#H’2000~CR#H’207F in an OD
as data registers. Every index has 4 subindices in which data can be stored. The size of a subindex is
one word. If the size of the data to be accessed is bigger than one word, users have to use several
subindex areas for data transmission.
 Object dictionary for DVP-FPMC
Index
(Hexadecimal
value)
1000
7-18
Object
name
Number of
subindices
VAR
1
1006
VAR
1
1018
ARRAY
5
1200
ARRAY
3
1280
ARRAY
4
:
:
:
128F
ARRAY
4
1400
:
143F
ARRAY
:
ARRAY
6
:
6
1600
ARRAY
9
:
:
:
163F
ARRAY
9
1800
:
183F
ARRAY
:
ARRAY
6
:
6
1A00
ARRAY
9
:
:
:
1A3F
ARRAY
9
2000
:
207F
6000
6100
ARRAY
:
ARRAY
ARRAY
ARRAY
5
:
5
5
17
6120
ARRAY
17
6200
ARRAY
5
6300
ARRAY
5
6320
ARRAY
5
Name
Data type
Attribute
Mapping
target
Product type
Synchronization
cycle
Product information
SDO parameter of
a master
SDO parameter of
a slave
:
SDO parameter of
a slave
RPDO parameter
:
RPDO parameter
RPDO mapping
parameter
:
RPDO mapping
parameter
TPDO parameter
:
TPDO parameter
TPDO mapping
parameter
:
TPDO mapping
parameter
PDO data register
:
PDO data register
Mode switch
Servo drive control
Parameter of a
profile position
mode
Present motion
mode of a servo
drive
Servo drive status
Servo drive
position
UNSIGNED32
RO
N
UNSIGNED32
RW
N
UNSIGNED32
RO
N
UNSIGNED32
RO
N
UNSIGNED32
RO
N
:
:
:
UNSIGNED32
RO
N
UNSIGNED32
:
UNSIGNED32
RW
:
RW
N
:
N
UNSIGNED32
RW
N
:
:
:
UNSIGNED32
RW
N
UNSIGNED32
:
UNSIGNED32
RW
:
RW
N
:
N
UNSIGNED32
RW
N
:
:
:
UNSIGNED32
RW
N
UNSIGNED32
:
UNSIGNED32
UNSIGNED8
UNSIGNED16
RW
:
RW
R
R
Y
:
Y
Y
Y
UNSIGNED32
R
Y
UNSIGNED8
RW
Y
UNSIGNED16
RW
Y
UNSIGNED32
RW
Y
DVP-10PM Application Manual
7
CANopen Communication Card
7.6 Setting a DVP-FPMC Mode
 A2 mode
In an A2 mode, DVP-FPMC communicates with four Delta ASDA-A2 series servo drives through a
CANopen network. During the communication, DVP-FPMC functions as a master, and the servo
drives functions as slaves. The communication structure required is show below. The default node
ID of DVP-FPMC is 127. The objects which are connected are node ID 1~ node ID 4. After users
assign node ID 1~node ID4 to the servo drives, the servo drives can exchange data with
DVP-FPMC.
Master
10PM
DVP-FPMC
Node: 127
CANopen network
Node: 4
Slave
Node: 3
Slave
Node: 2
Slave
Node: 1
Slave
In the A2 mode, there are six PDOs for the setting of servo parameters. The users can monitor the
statuses of the servo drives directly by accessing control registers in a CANopen network. They do
not need to set PDO parameters. Four PDOs are assigned to DVP-FPMC, and two PDOs are
assigned to the servo drives. Please refer to the table below for more information.
PDO
1
2
3
4
Master (transmission)
Target position of a profile position mode
(CR#n70~CR#n71)
Target speed of a profile position mode
(CR#n72~CR#n73)
Acceleration time of a profile position mode
(CR#n74~CR#n75)
Deceleration time of a profile position mode
(CR#n76~CR#n77)
Servo drive control (CR#n60)
Target position of an interpolation mode
(CR#n90~CR#n91)
5
6
DVP-10PM Application Manual
Slave (transmission)
Servo drive status (CR#n20)
Present motion mode of a servo drive
(CR#n21)
Servo drive position (CR#n22~CR#n23)
7-19
7 CANopen Communication Card
Setting communication in an A2 mode:
 Setting the ASDA-A2 series servo drives
Before creating a CANopen connection, the users have to set the servo drives to CANopen
mode.
1. Set P1-01 to H’0B. (The servo drive is set to CANopen mode.)
2. Set P3-00. The value of P3-00 indicates a node number. It is in the range of H’01 to H’04.
3. Set P3-01 to H’0403. The value of P3-01 indicates a baud rate. (If the high byte of the value
of P3-01 is 2, the baud rate used is 500 kbps. If the high byte of the value of P3-01 is 4, the
baud rate used is 1 Mbps.) The baud rates which are supported by DVP-FPMC now are 1
Mbps and 500 kbps. (Default: 1 Mbps)
 Setting DVP-FPMC
After the setting of the CNopen parameters in the servo drives connected is completed, the
users can create a CANopen network by means of DVP-FPMC.
1. Write 1 into CR#500. DVP-FPMC is set to A2 mode.
2. Write a node ID into CR#053. The default node ID of DVP-FPMC is 127.
3. Write H’FFFF into CR#010. All servo drives which are connected are scanned.
4. Read the value in CR#010 by means of the instruction FROM, and check whether the value
in CR#010 is cleared to 0.
5. Write 1 into CR#050. All servo drives which has been connected are set to ON.
 Normal mode
In a normal mode, users have to set the PDO parameters in DVP-FPMC and the slaves which are
connected. They have to use FROM/TO to set control registers in DVP-FPMC, and use an SDO
protocol to set the PDO parameters in the servo drives connected. The steps of setting the PDO
parameters in DVP-FPMC are as follows.
1. Setting PDO transmission parameters
The setting of PDO parameters includes the setting of a frame ID and the setting of a
synchronization cycle. A frame ID is in the range of H’181 to H’578. Please note that the frame
ID and the synchronization cycle in the PDO for a master must be the same as the frame ID and
the synchronization cycle in the PDO for the slave connected. There are two kinds of PDOs:
transmit and receive PDOs (TPDO and RPDO).
 Setting a TPDO
CR#H’1800~CR#H’183F in DVP-DPMC function as TPDOs. They communicate with a
slave’s RPDOs. For example, the OD index H’1800 (TPDO) in a master communicates with
the OD index H’143F (RPDO) in a slave. The synchronization cycle set is 240, and the
frame ID set is H’181.
Slave
DVP-F PMC
CR#
Transm it PDO
H'1 80 0 Synchronization
cy cle=240
Frame ID =H'181
OD
ind ex
Receive PDO
Synchronization
H'1 43 F cy cle=240
Frame ID =H'181
 Setting a RPDO
CR#H’1400~CR#H’143F in DVP-DPMC function as RPDOs. They communicate with a
slave’s TPDOs. For example, the OD index H’1438 (RPDO) in a master communicates with
the OD index H’1800 (TPDO) in a slave. The synchronization cycle set is 5, and the frame
ID set is H’400.
Slave
DVP-F PMC
CR#
Receive PDO
Synchronization
H'1 43 8 cy cle=5
7-20
Frame ID =H'400
OD
ind ex
H'1 80 0
Transm it PDO
Synchronization
Frame ID =H'400
cy cle=5
DVP-10PM Application Manual
7
CANopen Communication Card
2. Setting PDO mapping parameters
The setting of PDO mapping parameters includes the setting of a mapping target and the setting
of a data length in a PDO data buffer. The maximum data length which can be set is 64 bits,
that is to say, four subindices in a PDO data buffer can be occupied at a time. For example, the
mapping target set is the second subindex in CR#H’200A, and the data length set is 48 bits.
Subindex 2~subindex 4 in the PDO data buffer used are occupied.
D VP -FP MC
CR#
H'1 A0 0
T PDO m app ing
H'2 00 A
H'2
H'3 0
OD
ind ex
PDO dat a b uf fer
H'2 00 A
S ub in de x 1
H'2 00 A
S ub in de x 2
H'2 00 A
S ub in de x 3
H'2 00 A
S ub in de x 4
3. Setting PDO data
Write the data to be transmitted by a PDO into the OD indices set. For example, subindex
2~subindex 4 in CR#H’200A in DVP-FPMC is TPDO data, and subindex 1~subindex 3 in
CR#H’203F in the slave connected is RPDO data. After communication is enabled, data will be
transmitted/received every synchronization cycle.
S lave
D VP-FPMC
PDO dat a b uf fer
PDO dat a b uf fer
2 00 A
Data to be transm itted to a slav e
2 03 F
Data receiv ed from DVP -F PMC
2 00 A
Data to be transm itted to a slav e
2 03 F
Data receiv ed from DVP -F PMC
2 00 A
Data to be transm itted to a slav e
2 03 F
Data receiv ed from DVP -F PMC
7.7 Ethernet Mode of DVP-FPMC
DVP-FPMC supports Ethernet connection. It can be connected to an Ethernet device or a PC. If
DVP-FPMC is connected to a PC, PMSoft can be used to upload/download a program and monitor
devices. Users only need to connect the communication port on DVP-FPMC to a communication port
on equipment. Please refer to section 9.3 for more information about installing hardware. If DVP-FPMC
is connected to a PC, the Ethernet LED indicator will be ON. Please check the setting of hardware or
the setting of the PC connected if the Ethernet LED indicator is not ON.
DVP-10PM Application Manual
7-21
7 CANopen Communication Card
7.7.1 Communication between DVP-FPMC and an HMI
 Configuration
In this example, two DVP-10PM series motion controllers equipped with DVP-FPMC exchange data
with the HMI DOP-B10E615 through Ethernet. The hardware configuration required is shown below.
The program in the HMI controls Y0~Y7 on the two DVP-10PM series motion controllers.
DOP -B10E615
IP: 192.168. 0. 70
FPMC
FPMC
10PM
10PM
IP: 192.168. 0. 101
IP: 192.168. 0. 100
 Setting DVP-FPMC
In this example, DVP-FPMC functions as a slave. The IP address of DVP-FPMC needs to be set.
The IP address of the equipment to be connected and Ethernet connections do not need to be set.
Users need to write the IP address of DVP-FPMC into CR#59. Please refer to 7.5 for more
information about setting CR#59. Take the IP address 192.168.0.100 for instance. The program in
DVP-PM is shown below.
M1002
MOV
HC0A8
D0
MOV
H66
D1
TO
K254
K59
D0
K2
I
7-22
DVP-10PM Application Manual
7
CANopen Communication Card
 Setting an HMI
An HMI is used as a master. It is connected to two slaves. The IP address of the HMI and Ethernet
connections need to be set. The steps of creating the connection between the HMI and DVP-FPMC
are as follows.
1. Click Configuration… on the Options menu.
2. Click the Main tab, and then select DOP-B10E615 65536 Colors in the HMI Type drop-down
list box.
3. Click Communication Setting on the Options menu.
4. Click the Ethernet tab.
5. After users click , they have to type a link name in the Link Name box, and select Delta DVP
TCP/IP in the Controller drop-down list box.
DVP-10PM Application Manual
7-23
7 CANopen Communication Card
6. The users have to set the IP address of DVP- FPMC in the Communication Parameter
section.
7. After the users select the link name created in step 5 in the Input window for an element, they
can operate the memory defined by the element by means of Ethernet.
The HMI needs to control Y0~Y7 on two DVP-10PM series motion controllers which function as
slaves. The interface required is shown below. The buttons Y0~Y7 correspond to Y0~Y7 on
EtherLink1 and EtherLink2, that is to say, they correspond to Y0~Y7 on the two slaves connected.
After the setting described above is completed, the HMI can connect to the two slaves by means of
Ethernet.
IP: 192.168.0.100
IP: 192.168.0.101
7.7.2 Communication between DVP-FPMC and PMSoft
Before users create communication between DVP-FPMC and PMSoft, they have to use COMMG to
create an Ethernet driver. An Ethernet driver can be used to upload the program in a DVP-10PM series
motion controller, download a program into a DVP-10PM series motion controller, and monitor a
DVP-10PM series motion controller.
 Wiring hardware
Users can connect the network port on DVP-FPMC to a network port on a PC by means of a
network cable. If DVP-FPMC is connected to a PC, the Ethernet LED indicator on DVP-FPMC will
be ON. Please check the setting of hardware and or the setting of the PC is the Ethernet LED
indicator is not ON.
7-24

CANopen port

Ethernet port

CANopen LED indicator

Ethernet LED indicator
DVP-10PM Application Manual
7
CANopen Communication Card
 Setting a PC
1. Click Internet Protocol (TCP/IP) in the Local Area Connection Properties window, and then
click Properties.
2. Select the Use the following IP address option button in the Internet Protocol (TCP/IP)
Properties window. Type 192.168.0.55 in the IP address box. The last number is in the range
of 1 to 255, bit it can not be 100. Type 255.255.255.0 in the Subnet mask box, and click OK.
DVP-10PM Application Manual
7-25
7 CANopen Communication Card
 Setting PMSoft
1. Click Add in the COMMGR window, and then create an Ethernet driver in the Driver Properties
window.
The IP Address set is 192.168.0.100, and the port number set is 502.
7-26
DVP-10PM Application Manual
7
CANopen Communication Card
2. Start PMSoft, and click Communication Setting on the Communication menu. In the
Communication Setting window, select the driver created in the first step in the Driver
drop-down list box, and select the IP address 192.168.1.100. After OK is clicked, users can
upload/download a program and monitor devices by means of Ethernet.
3. Downloading a program: If users want to download a program, they can click
on the
toolbar, or click Download Program on the Communication menu. The procedure for
downloading a program through Ethernet is the same as the procedure for downloading a
program through a general communication port.
on the toolbar, or
4. Uploading a program: If users want to upload a program, they can click
click Upload Program on the Communication menu. The procedure for uploading a program
through Ethernet is the same as the procedure for uploading a program through a general
communication port.
5. Monitoring a DVP-10PM series motion controller: If users want to monitor a DVP-10PM series
motion controller, they can click
on the toolbar, or click Monitoring on the
Communication menu. The procedure for monitoring a DVP-10PM series motion controller
through Ethernet is the same as the procedure for monitoring a DVP-10PM series motion
controller through a general communication port.
7.8 LED Indicators and Troubleshooting
 CANopen LED indicator
LED indicator
Description
The green light is OFF.
A CANopen cable is not connected.
The green light is ON.
A CANopen cable is connected
normally.
Resolution
Check whether cables are
connected correctly.
No action is required.
 Ethernet LED indicator
LED indicator
The green light is OFF.
The green light is ON.
The green light blinks.
DVP-10PM Application Manual
Description
DVP-FPMC is not connected to a
network.
DVP-FPMC is connected to a
network normally.
There is data exchange.
Resolution
Check whether a network cable is
connected correctly.
No action is required.
7-27
7 CANopen Communication Card
MEMO
7-28
DVP-10PM Application Manual
8
High-speed Comparison and High-speed Capture
8.1 High-speed Comparison and High-speed Capture
A DVP-10PM series motion controller sets and reads values by means of the instructions FROM and
TO. The use of FROM/TO to set high-speed comparison and high-speed capture, and to read values is
described below.
 Control
X0
TO
Device
S
S+1
(S+3, S+2)
(S+5, S+4)
(S+7, S+6)
(S+9, S+8)
:
(S+31, S+30)
(S+33, S+32)
N
K253
K1
Module
number
Contr ol
regis ter
number
S
N
Initial
device
number
Data
length
Resetting output
devices
0
1
Control
Initial group number n (n=0~7)
0
Control register whose group number is n
Data registers whose group numbers are n
Control register whose group number is n+1
Data registers whose group numbers are n+1
:
Control register whose group number is n+7
Data registers whose group numbers are n+7
Data length=2+m*4
m=number of groups (8 groups at most can be used.)
Setting a range
which is masked
0
2
 Reading
X0
F RO M
Device
S
S+1
(S+3, S+2)
(S+5, S+4)
(S+7, S+6)
(S+9, S+8)
:
(S+31, S+30)
(S+33, S+32)
N
K253
K1
Module
number
Contr ol
regis ter
number
S
N
Initial
device
number
Data
length
Reading the states of output
devices/Enabling capture
0
1
States of output devices
Enabling capture (8 bits)
Reading the values in counters
Initial group number n (n=0~7)
0
Control register whose group number is n
Data registers whose group numbers are n
Control register whose group number is n+1
Data registers whose group numbers are n+1
:
Control register whose group number is n+7
Data registers whose group numbers are n+7
Data length=2+m*4
m=number of groups (8 groups at most can be used.)
 Control/Reading
(1) The format of a control register in a high-speed comparison mode is described below.
Bi t
15
14
Item
DVP-10PM Application Manual
13
12
11
10
9
8
Comparison result
7
6
Output
action
5
4
Conditi on
3
2
1
0
Comparison source
8-1
8 High-speed Comparison and High-speed Capture
Item
Bit
Comparison
source
Comparison
condition
Setting value
0
[3-0]
[5-4]
Output
action
[7-6]
Comparison
result
[11-8]
DVP-10PM series motion controller
Present position of the X-axis
1
Present position of the Y-axis
2
3
4
5
6
7
Present position of the Z-axis
Present position of the A-axis
Value in C200
Value in C204
Value in C208
Value in C212
1
Equal to (＝)
2
Greater than or equal to (≧ )
3
Less than or equal to (≦ )
0
1
2, 3
0
1
2
3
4
5
6
7
Set
Reset
No output
Y0
Y1
Y2
Y3
Clearing the value in C200
Clearing the value in C204
Clearing the value in C208
Clearing the value in C212
(2) The format of a control register in a high-speed capture mode is described below.
B it
Item
Item
8-2
Bit
Capture
source
[3-0]
Setting
[5-4]
External
trigger
[15-12]
15
14
13
12
Tri gger
Setting value
0
1
2
3
4
5
6
7
0
0
1
2
3
4
5
6
7
8
9
10
11
12
11
10
9
8
─
7
6
5
4
Setting
3
2
1
0
C aptur e sourc e
DVP-10PM series motion controller
Present position of the X-axis
Present position of the Y-axis
Present position of the Z-axis
Present position of the A-axis
Value in C200
Value in C204
Value in C208
Value in C212
Capture mode
X0
X1
X2
X3
X4
X5
X6
X7
X10
X11
X12
X13
DVP-10PM Application Manual
8
Item
Bit
External
trigger
[15-12]
High-speed Comparison and High-speed Capture
Setting value
13
14
15
DVP-10PM series motion controller
-
8.2 High-speed Comparison
A high-speed comparison is shown below. Users use FROM/TO to read/write values so that they can
compare data.
(B)FR OM K25 3 K1 D 0 D 5 0
(A)TO K25 3 K1 D0 D 5 0
(D)D a ta reg iste r n (n=0 ~7)
(C) C on trol re g iste r n (n =0~7 )
(E) C o mpa riso n sou rce
(F) Co mpa riso n co nd iti on
(G) Ou tpu t te rmi na l/ Co un te r
※ The dotted lines are data procedures, and the solid lines are control procedures.
Block (A): The instruction TO is used to write data into control registers (block C) and data registers
(block D).
Block (B): The instruction FROM is used to read data from control registers (block C) and data registers
(block D).
Block (C): User set a comparison source (block E), a comparison condition (block F), and an output
terminal (block G) in a control register in accordance with the value it receives by means of
TO.
Block (D): The value that users write into data registers by means of the instruction TO is compared
with a comparison source (block E).
Block (E): The present positions of four axes, the values in C200, C204, C208, and C212 are
comparison sources.
Block (F): There are three comparison conditions, they are equal to, greater than or equal to, and less
than or equal to. If block D and block E meet the comparison condition set, the output
terminal selected will be set to ON, the counter selected will be reset, the output terminal
selected will be reset to OFF, or the counter selected will not be reset.
Block (G): If a comparison condition is met, Y0, Y1, Y2, Y3, C200, C204, C208, or C212 will be set or
reset.
Procedure for a high-speed comparison: The instruction TO is used to write data into control registers
and data registers (block A).The comparison source set (block E) is compared with the value in data
registers (block D). The comparison result meets the condition set (block F).Y0, Y1, Y2, Y3, C200,
C204, C208, or C212 will be set or reset (block G).
 Example
【Description】
The high-speed counter C204 is used. If the value in C204 is greater than 100, Y1 will be set to ON.
If the value in C204 is greater than 300, Y1 will be reset to OFF. Two comparators are used in a
program. One comparator is used to set Y1 to ON, and the other is used to reset Y1 to OFF. When
Y1 is set to ON, no LED indicator on DVP10PM00M will indicate that Y1 is ON, but users can know
whether Y1 is ON by means of its external wiring. As a result, the terminal C1 is connected to the
terminal 24G, Y1 is connected to X7, S/S2 is connected to +24V. A manual pulse generator is used,
and is connected to X2 and X3.
DVP-10PM Application Manual
8-3
8 High-speed Comparison and High-speed Capture
【Steps】
1. After O100 is started, the initial setting of two high-speed comparisons will be carried out.
(1) D0=0Initial group number n=0
(2) D1=0
(3) D20=10Writing 10 values by means of the instruction TO (two groups of high-speed
comparison values)
(4) D60=10Reading 10 values by means of the instruction FROM (two high-speed
comparison values)
2. Two groups of high-speed comparison values are set when M1 is ON.
(1) First group: The value in (D3, D2) is H125. The comparison source set is C204. (The value
of bit 3~bit 0 is 5.) The comparison condition set is greater than or equal to. (The value of bit
5~bit 4 is 2.) The output action selected is set. (The value of bit7~bit 6 is 0.) The terminal
selected is Y1 (The value of bit11~bit 8 is 1.)
(2) First group: The value in (D5, D4) is K100. If the value in C204 is greater or equal to K100,
Y1 will be set to ON.
(3) Second group: The value in (D7, D6) is H165. The comparison source set is C204. (The
value of bit 3~bit 0 is 5.) The comparison condition set is greater than or equal to. (The value
of bit 5~bit 4 is 2.) The output action selected is reset. (The value of bit7~bit 6 is 1.) The
terminal selected is Y1. (The value of bit11~bit 8 is 1.)
(4) Second group: The value in (D9, D8) is K300. If the value in C204 is greater or equal to
K300, Y1 will be reset to OFF.
3. The two high-speed comparisons are started when M2 is ON.
4. The setting of the two high-speed comparisons is read when M3 is ON.
5. When M4 is ON, K1 is moved to M1204~M1207. C204 is started when M5 is set to ON. (Mode
of counting: Pulse/Direction)
6. Use the manual pulse generator, and check whether C204 counts.
7. Use the manual pulse generator. Check whether X7 on the DVP-10PM series motion controller
used is ON when the value in C204 is greater than 100. If X7 is ON, Y1 is set to ON.
8. Use the manual pulse generator. Check whether X7 on the DVP-10PM series motion controller
used is OFF when the value in C204 is greater than 300. If X7 is OFF, Y1 is reset to OFF.
8-4
DVP-10PM Application Manual
8
High-speed Comparison and High-speed Capture
【Program in PMSoft】
DVP-10PM Application Manual
8-5
8 High-speed Comparison and High-speed Capture
8.3 High-speed Capture
A deviation often occurs when the present position of an axis or the value in C200/C204/C208/C212 is
read. To prevent a deviation from occurring, users read a value immediately by setting an input terminal
to ON. Capture is described below.
(G)FR OM K2 53 K1 D0 D5 0
(C) D ata reg iste r n (n=0 ~7)
(D) C ap tu re sou rce
(A)TO K25 3 K1 D0 D5 0
(B) C o ntro l reg iste r n (n=0 ~7)
(F) Tri gg er
(E) C a ptu re mo de
Block (A): The instruction TO is used to write data into control registers (block B).
Block (B): Users set a capture source (block D), set bit 5~bit 4 to 0 (block E), and set a trigger (block F)
in a control register.
Block (C): The capture of a value (block D) is triggered by an input terminal, and the value captured is
stored in data registers.
Block (D): The present positions of four axes, the values in C200, C204, C208, and C212 are capture
sources.
Block (E): Capture mode
Block (F): External trigger
Block (G): The instruction FROM is used to read data from control registers (block C) and data registers
(block B). The values stored in the data registers are values captured.
Procedure for a high-speed capture: The instruction TO is used to write data into control registers
(block A). An input terminal is set to ON (block F). The present position of the
X-axis/Y-axis/Z-axis/A-axis, or the value in C200/C204/C208/C212 is captured (block D). The value
captured is stored in data registers (block C).Users read the value captured by means of the
instruction FROM.
 Example
【Description】
Start the high-speed counter C204. The value in C204 is captured when X5 is set to ON. A manual
pulse generator is used, and is connected to X2 and X3.
【Steps】
1. When M1002 in O100 is ON, the initial setting of high-speed capture is carried out.
(1) D0=0Initial group number n=0
(2) D1=0
(3) D20=6Writing 6 values by means of the instruction TO (Only one value is captured.)
(4) D60=10Reading 6 values by means of the instruction FROM (Only one value is captured.)
2. When M1 is ON, the high-speed capture is set.
(1) The value in (D3, D2) is H5005.The capture source set is C204. (The value of bit 3~bit 0 is
5). The mode selected is a capture mode. (The value of bit 5~bit 4 is 0.) The trigger selected
is X5. (The value of bit 15~bit 12 is 5.)
(2) The value in (D5, D4) is K100. Users can set (D5, D4) by themselves.
3. The high-speed capture is started when M2 is ON.
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DVP-10PM Application Manual
8
High-speed Comparison and High-speed Capture
4. The setting of the high-speed capture is read when M3 is ON.
5. When M4 is ON, K1 is moved to M1204~M1207. C204 is started when M5 is set to ON. (Mode
of counting: Pulse/Direction)
6. Use a manual pulse generator, and check whether C204 counts.
7. Use the manual pulse generator, and set X5 to ON.
8. The value captured is read when M3 is ON. When X5 is ON, the value in C204 is captured. The
value captured is 677.
When X5 is ON,
the value in C204
is captured.
DVP-10PM Application Manual
8-7
8 High-speed Comparison and High-speed Capture
【Program in PMSoft】
8-8
DVP-10PM Application Manual
9 Appendix
9.1 Appendix A: Error Code Table
After a program is written into a DVP-10PM series motion controller, the ERROR LED indicator will blink
and an error flag will be ON if an error occurs in O100 or an Ox motion subroutine. The reason for the error
occurring in O100 or an Ox motion subroutine may be that the use of operands (devices) is incorrect,
syntax is incorrect, or the setting of motion parameters is incorrect. Users can know the reasons for the
errors occurring in a DVP-10PM series motion controller by means of the error codes (hexadecimal codes)
stored in error registers.
 Error message table
Program
block
O100
Error type
Error flag
Error register
Step number
Program
block
Program
error
M1953
D1802
D1803
X-axis
M1793
D1857
D1869
Y-axis
M1873
D1937
Motion error
Z-axis
A-axis
M2033
M2113
D2017
D2097
B-axis
M2193
D2177
C-axis
M2273
D2257
B-axis
M2193
D2177
C-axis
M2273
D2257
Ox
Error type
Program
error
Error flag
Error register
Step number
M1793
D1857
D1869
X-axis
M1793
D1857
D1869
Y-axis
M1873
D1937
Motion error
Z-axis
A-axis
M2033
M2113
D2017
D2097
 Program error codes and motion error codes (hexadecimal codes)
Error code
0002
0003
0004
Description
The subroutine used has no data.
CJ, CJN, and JMP have no matching
pointers.
There is a subroutine pointer in the main
program.
Error code
0031
0032
0033
0005
Lack of a subroutine
0040
0006
A pointer is used repeatedly in the same
program.
0041
0007
A subroutine pointer is used repeatedly.
0044
0011
The pointer used in JMP is used
repeatedly in different subroutines.
The pointer used in JMP is the same as
the pointer used in CALL.
A pointer is the same as a subroutine
pointer.
Target position (I) is incorrect.
C401
0012
Target position (II) is incorrect.
C402
0021
Velocity (I) is incorrect.
C404
0022
Velocity (II) is incorrect.
The velocity (VRT) of returning home is
incorrect.
The velocity (VCR) to which the velocity of
the axis specified decreases when the
axis returns home is incorrect.
The JOG speed set is incorrect.
C405
0008
0009
000A
0023
0024
0025
DVP-10PM Application Manual
0045
0E18
0E19
C4EE
C4FF
Description
The positive-going pulses generated by
motion are inhibited.
The negative-going pulses generated by
motion are inhibited.
The motor used comes into contact with the
left/right limit switch set.
A device exceeds the device range
available.
A communication timeout occurs when
MODRD/MODWR is executed.
An error occurs when a device is modified
by a 16-bit index register/32-bit index
register.
The conversion into a floating-point number
is incorrect.
The conversion into a binary-coded
decimal number is incorrect.
Incorrect division operation (The divisor is
0.)
General program error
LD/LDI has been used more than nine
times.
There is more than one nested program
structure supported by RPT/RPE.
SRET is used between RPT and RPE.
There is no M102 in the main program, or
there is no M2 in a motion subroutine.
A wrong instruction is used, or a device
used exceeds the range available.
9-1
9 Appendix
MEMO
9-2
DVP-10PM Application Manual